SDF 1.7

The Robot Modeling Language (SDF) is an XML file format used to describe all the elements in a simulation environment.

Usage


Meta-Tags

Meta-tags are processed by the parser before the final SDF file is generated.
<sdf>
<world>
<audio>
<device>
<wind>
<linear_velocity>
<include>
<uri>
<name>
<static>
<pose>
<plugin>
<gravity>
<magnetic_field>
<atmosphere>
<temperature>
<pressure>
<temperature_gradient>
<gui>
<camera> <plugin>
<physics>
<max_step_size>
<real_time_factor>
<real_time_update_rate>
<max_contacts>
<dart> <simbody> <bullet> <ode>
<scene>
<ambient>
<background>
<sky> <shadows>
<fog> <grid>
<origin_visual>
<light>
<cast_shadows>
<diffuse>
<specular>
<attenuation> <direction>
<spot> <pose>
<frame>
<pose>
<model>
<static>
<self_collide>
<allow_auto_disable>
<include> <model>
<enable_wind>
<frame> <pose>
<link>
<gravity>
<enable_wind>
<self_collide>
<kinematic>
<must_be_base_link>
<velocity_decay> <pose>
<inertial> <collision>
<laser_retro>
<max_contacts>
<pose>
<geometry> <surface>
<visual>
<cast_shadows>
<laser_retro>
<transparency>
<visibility_flags>
<meta> <pose>
<material> <geometry> <plugin>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<projector> <audio_sink>
<audio_source> <battery> <light>
<joint>
<parent>
<child>
<gearbox_ratio>
<gearbox_reference_body>
<thread_pitch>
<axis> <axis2> <physics> <pose>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<plugin>
<gripper>
<actor>
<skin> <animation> <script> <pose>
<link>
<gravity>
<enable_wind>
<self_collide>
<kinematic>
<must_be_base_link>
<velocity_decay> <pose>
<inertial> <collision>
<laser_retro>
<max_contacts>
<pose>
<geometry> <surface>
<visual>
<cast_shadows>
<laser_retro>
<transparency>
<visibility_flags>
<meta> <pose>
<material> <geometry> <plugin>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<projector> <audio_sink>
<audio_source> <battery> <light>
<joint>
<parent>
<child>
<gearbox_ratio>
<gearbox_reference_body>
<thread_pitch>
<axis> <axis2> <physics> <pose>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<plugin>
<plugin>
<road>
<width>
<point>
<material>
<spherical_coordinates>
<surface_model>
<world_frame_orientation>
<latitude_deg>
<longitude_deg>
<elevation>
<heading_deg>
<state>
<sim_time>
<wall_time>
<real_time>
<iterations>
<insertions>
<model>
<static>
<self_collide>
<allow_auto_disable>
<include> <model>
<enable_wind>
<frame> <pose>
<link>
<gravity>
<enable_wind>
<self_collide>
<kinematic>
<must_be_base_link>
<velocity_decay> <pose>
<inertial> <collision>
<laser_retro>
<max_contacts>
<pose>
<geometry> <surface>
<visual>
<cast_shadows>
<laser_retro>
<transparency>
<visibility_flags>
<meta> <pose>
<material> <geometry> <plugin>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<projector> <audio_sink>
<audio_source> <battery> <light>
<joint>
<parent>
<child>
<gearbox_ratio>
<gearbox_reference_body>
<thread_pitch>
<axis> <axis2> <physics> <pose>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<plugin>
<gripper>
<light>
<deletions> <model> <light>
<population>
<model_count>
<distribution> <box> <cylinder> <pose>
<model>
<static>
<self_collide>
<allow_auto_disable>
<include> <model>
<enable_wind>
<frame> <pose>
<link>
<gravity>
<enable_wind>
<self_collide>
<kinematic>
<must_be_base_link>
<velocity_decay> <pose>
<inertial> <collision>
<laser_retro>
<max_contacts>
<pose>
<geometry> <surface>
<visual>
<cast_shadows>
<laser_retro>
<transparency>
<visibility_flags>
<meta> <pose>
<material> <geometry> <plugin>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<projector> <audio_sink>
<audio_source> <battery> <light>
<joint>
<parent>
<child>
<gearbox_ratio>
<gearbox_reference_body>
<thread_pitch>
<axis> <axis2> <physics> <pose>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<plugin>
<gripper>
<model>
<static>
<self_collide>
<allow_auto_disable>
<include>
<uri>
<name>
<static>
<pose>
<plugin>
<model>
<enable_wind>
<frame>
<pose>
<pose>
<link>
<gravity>
<enable_wind>
<self_collide>
<kinematic>
<must_be_base_link>
<velocity_decay> <pose>
<inertial> <collision>
<laser_retro>
<max_contacts>
<pose>
<geometry> <surface>
<visual>
<cast_shadows>
<laser_retro>
<transparency>
<visibility_flags>
<meta> <pose>
<material> <geometry> <plugin>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<projector> <audio_sink>
<audio_source> <battery> <light>
<joint>
<parent>
<child>
<gearbox_ratio>
<gearbox_reference_body>
<thread_pitch>
<axis> <axis2> <physics> <pose>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<plugin>
<gripper>
<grasp_check> <gripper_link>
<palm_link>
<actor>
<skin>
<filename>
<scale>
<animation>
<filename>
<scale>
<interpolate_x>
<script>
<loop>
<delay_start>
<auto_start>
<trajectory>
<pose>
<link>
<gravity>
<enable_wind>
<self_collide>
<kinematic>
<must_be_base_link>
<velocity_decay> <pose>
<inertial> <collision>
<laser_retro>
<max_contacts>
<pose>
<geometry> <surface>
<visual>
<cast_shadows>
<laser_retro>
<transparency>
<visibility_flags>
<meta> <pose>
<material> <geometry> <plugin>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<projector> <audio_sink>
<audio_source> <battery> <light>
<joint>
<parent>
<child>
<gearbox_ratio>
<gearbox_reference_body>
<thread_pitch>
<axis> <axis2> <physics> <pose>
<sensor>
<always_on>
<update_rate>
<visualize>
<topic>
<enable_metrics>
<pose>
<plugin>
<air_pressure> <altimeter> <camera> <contact> <force_torque> <gps> <imu>
<orientation_reference_frame> <angular_velocity> <linear_acceleration> <enable_orientation>
<lidar> <logical_camera> <magnetometer> <navsat> <ray> <rfidtag>
<rfid>
<sonar> <transceiver>
<plugin>
<light>
<cast_shadows>
<diffuse>
<specular>
<attenuation>
<range>
<linear>
<constant>
<quadratic>
<direction>
<spot>
<inner_angle>
<outer_angle>
<falloff>
<pose>
<sdf>
Description: SDFormat base element that can include 0-N models, actors, lights, and/or worlds. A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.
Required: 1    Type: n/a
Attributes
version:
Version number of the SDFormat specification, consisting of major and minor versions delimited by a `.` character. A major version bump is required if older versions cannot be automatically converted to this version. A minor version bump is required when there are breaking changes that can be handled by the automatic conversion functionality encoded in the `*.convert` files.
Type: string   Default: 1.7

<world>
Description: The world element encapsulates an entire world description including: models, scene, physics, and plugins.
Required: *    Type: n/a
Attributes
name:
Unique name of the world
Type: string   Default: __default__

<audio>
Description: Global audio properties.
Required: 0    Type: n/a
<device>
Description: Device to use for audio playback. A value of "default" will use the system's default audio device. Otherwise, specify a an audio device file"
Required: 1    Type: string    Default: default
<wind>
Description: The wind tag specifies the type and properties of the wind.
Required: 0    Type: n/a
<linear_velocity>
Description: Linear velocity of the wind.
Required: 0    Type: vector3    Default: 0 0 0
<include>
Description: Include resources from a URI
Required: *    Type: n/a
<uri>
Description: URI to a resource, such as a model
Required: 1    Type: string    Default: __default__
<name>
Description: Override the name of the included entity.
Required: 0    Type: string    Default:
<static>
Description: Override the static value of the included entity.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<gravity>
Description: The gravity vector in m/s^2, expressed in a coordinate frame defined by the spherical_coordinates tag.
Required: 1    Type: vector3    Default: 0 0 -9.8
<magnetic_field>
Description: The magnetic vector in Tesla, expressed in a coordinate frame defined by the spherical_coordinates tag.
Required: 1    Type: vector3    Default: 6e-06 2.3e-05 -4.2e-05
<atmosphere>
Description: The atmosphere tag specifies the type and properties of the atmosphere model.
Required: 1    Type: n/a
Attributes
type:
The type of the atmosphere engine. Current options are adiabatic. Defaults to adiabatic if left unspecified.
Type: string   Default: adiabatic

<temperature>
Description: Temperature at sea level in kelvins.
Required: 0    Type: double    Default: 288.15
<pressure>
Description: Pressure at sea level in pascals.
Required: 0    Type: double    Default: 101325
<temperature_gradient>
Description: Temperature gradient with respect to increasing altitude at sea level in units of K/m.
Required: 0    Type: double    Default: -0.0065
<gui>
Description: none
Required: 0    Type: n/a
Attributes
fullscreen:
no description
Type: bool   Default: 0

<camera>
Description: none
Required: 0    Type: n/a
Attributes
name:
no description
Type: string   Default: user_camera

<view_controller>
Description: none
Required: 0    Type: string    Default: orbit
<projection_type>
Description: Set the type of projection for the camera. Valid values are "perspective" and "orthographic".
Required: 0    Type: string    Default: perspective
<track_visual>
Description: none
Required: 0    Type: n/a
<name>
Description: Name of the tracked visual. If no name is provided, the remaining settings will be applied whenever tracking is triggered in the GUI.
Required: 0    Type: string    Default: __default__
<min_dist>
Description: Minimum distance between the camera and the tracked visual. This parameter is only used if static is set to false.
Required: 0    Type: double    Default: 0
<max_dist>
Description: Maximum distance between the camera and the tracked visual. This parameter is only used if static is set to false.
Required: 0    Type: double    Default: 0
<static>
Description: If set to true, the position of the camera is fixed relatively to the model or to the world, depending on the value of the use_model_frame element. Otherwise, the position of the camera may vary but the distance between the camera and the model will depend on the value of the min_dist and max_dist elements. In any case, the camera will always follow the model by changing its orientation.
Required: 0    Type: bool    Default: 0
<use_model_frame>
Description: If set to true, the position of the camera is relative to the model reference frame, which means that its position relative to the model will not change. Otherwise, the position of the camera is relative to the world reference frame, which means that its position relative to the world will not change. This parameter is only used if static is set to true.
Required: 0    Type: bool    Default: 1
<xyz>
Description: The position of the camera's reference frame. This parameter is only used if static is set to true. If use_model_frame is set to true, the position is relative to the model reference frame, otherwise it represents world coordinates.
Required: 0    Type: vector3    Default: -5 0 3
<inherit_yaw>
Description: If set to true, the camera will inherit the yaw rotation of the tracked model. This parameter is only used if static and use_model_frame are set to true.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<physics>
Description: The physics tag specifies the type and properties of the dynamics engine.
Required: 1    Type: n/a
Attributes
name:
The name of this set of physics parameters.
Type: string   Default: default_physics
default:
If true, this physics element is set as the default physics profile for the world. If multiple default physics elements exist, the first element marked as default is chosen. If no default physics element exists, the first physics element is chosen.
Type: bool   Default: 0
type:
The type of the dynamics engine. Current options are ode, bullet, simbody and dart. Defaults to ode if left unspecified.
Type: string   Default: ode

<max_step_size>
Description: Maximum time step size at which every system in simulation can interact with the states of the world. (was physics.sdf's dt).
Required: 1    Type: double    Default: 0.001
<real_time_factor>
Description: target simulation speedup factor, defined by ratio of simulation time to real-time.
Required: 1    Type: double    Default: 1
<real_time_update_rate>
Description: Rate at which to update the physics engine (UpdatePhysics calls per real-time second). (was physics.sdf's update_rate).
Required: 1    Type: double    Default: 1000
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value can be over ridden by a max_contacts element in a collision element.
Required: 0    Type: int    Default: 20
<dart>
Description: DART specific physics properties
Required: 0    Type: n/a
<solver>
Description: none
Required: 1    Type: n/a
<solver_type>
Description: One of the following types: pgs, dantzig. PGS stands for Projected Gauss-Seidel.
Required: 1    Type: string    Default: dantzig
<collision_detector>
Description: Specify collision detector for DART to use. Can be dart, fcl, bullet or ode.
Required: 0    Type: string    Default: fcl
<simbody>
Description: Simbody specific physics properties
Required: 0    Type: n/a
<min_step_size>
Description: (Currently not used in simbody) The time duration which advances with each iteration of the dynamics engine, this has to be no bigger than max_step_size under physics block. If left unspecified, min_step_size defaults to max_step_size.
Required: 0    Type: double    Default: 0.0001
<accuracy>
Description: Roughly the relative error of the system. -LOG(accuracy) is roughly the number of significant digits.
Required: 0    Type: double    Default: 0.001
<max_transient_velocity>
Description: Tolerable "slip" velocity allowed by the solver when static friction is supposed to hold object in place.
Required: 0    Type: double    Default: 0.01
<contact>
Description: Relationship among dissipation, coef. restitution, etc. d = dissipation coefficient (1/velocity) vc = capture velocity (velocity where e=e_max) vp = plastic velocity (smallest v where e=e_min) > vc Assume real COR=1 when v=0. e_min = given minimum COR, at v >= vp (a.k.a. plastic_coef_restitution) d = slope = (1-e_min)/vp OR, e_min = 1 - d*vp e_max = maximum COR = 1-d*vc, reached at v=vc e = 0, v <= vc = 1 - d*v, vc < v < vp = e_min, v >= vp dissipation factor = d*min(v,vp) [compliant] cor = e [rigid] Combining rule e = 0, e1==e2==0 = 2*e1*e2/(e1+e2), otherwise
Required: 0    Type: n/a
<stiffness>
Description: Default contact material stiffness (force/dist or torque/radian).
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: dissipation coefficient to be used in compliant contact; if not given it is (1-min_cor)/plastic_impact_velocity
Required: 0    Type: double    Default: 100
<plastic_coef_restitution>
Description: this is the COR to be used at high velocities for rigid impacts; if not given it is 1 - dissipation*plastic_impact_velocity
Required: 0    Type: double    Default: 0.5
<plastic_impact_velocity>
Description: smallest impact velocity at which min COR is reached; set to zero if you want the min COR always to be used
Required: 0    Type: double    Default: 0.5
<static_friction>
Description: static friction (mu_s) as described by this plot: http://gazebosim.org/wiki/File:Stribeck_friction.png
Required: 0    Type: double    Default: 0.9
<dynamic_friction>
Description: dynamic friction (mu_d) as described by this plot: http://gazebosim.org/wiki/File:Stribeck_friction.png
Required: 0    Type: double    Default: 0.9
<viscous_friction>
Description: viscous friction (mu_v) with units of (1/velocity) as described by this plot: http://gazebosim.org/wiki/File:Stribeck_friction.png
Required: 0    Type: double    Default: 0
<override_impact_capture_velocity>
Description: for rigid impacts only, impact velocity at which COR is set to zero; normally inherited from global default but can be overridden here. Combining rule: use larger velocity
Required: 0    Type: double    Default: 0.001
<override_stiction_transition_velocity>
Description: This is the largest slip velocity at which we'll consider a transition to stiction. Normally inherited from a global default setting. For a continuous friction model this is the velocity at which the max static friction force is reached. Combining rule: use larger velocity
Required: 0    Type: double    Default: 0.001
<bullet>
Description: Bullet specific physics properties
Required: 0    Type: n/a
<solver>
Description: none
Required: 1    Type: n/a
<type>
Description: One of the following types: sequential_impulse only.
Required: 1    Type: string    Default: sequential_impulse
<min_step_size>
Description: The time duration which advances with each iteration of the dynamics engine, this has to be no bigger than max_step_size under physics block. If left unspecified, min_step_size defaults to max_step_size.
Required: 0    Type: double    Default: 0.0001
<iters>
Description: Number of iterations for each step. A higher number produces greater accuracy at a performance cost.
Required: 1    Type: int    Default: 50
<sor>
Description: Set the successive over-relaxation parameter.
Required: 1    Type: double    Default: 1.3
<constraints>
Description: Bullet constraint parameters.
Required: 1    Type: n/a
<cfm>
Description: Constraint force mixing parameter. See the ODE page for more information.
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter. See the ODE page for more information.
Required: 1    Type: double    Default: 0.2
<contact_surface_layer>
Description: The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken.
Required: 1    Type: double    Default: 0.001
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: bool    Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: double    Default: -0.01
<ode>
Description: ODE specific physics properties
Required: 0    Type: n/a
<solver>
Description: none
Required: 1    Type: n/a
<type>
Description: One of the following types: world, quick
Required: 1    Type: string    Default: quick
<min_step_size>
Description: The time duration which advances with each iteration of the dynamics engine, this has to be no bigger than max_step_size under physics block. If left unspecified, min_step_size defaults to max_step_size.
Required: 0    Type: double    Default: 0.0001
<island_threads>
Description: Number of threads to use for "islands" of disconnected models.
Required: 0    Type: int    Default: 0
<iters>
Description: Number of iterations for each step. A higher number produces greater accuracy at a performance cost.
Required: 1    Type: int    Default: 50
<precon_iters>
Description: Experimental parameter.
Required: 0    Type: int    Default: 0
<sor>
Description: Set the successive over-relaxation parameter.
Required: 1    Type: double    Default: 1.3
<thread_position_correction>
Description: Flag to use threading to speed up position correction computation.
Required: 0    Type: bool    Default: 0
<use_dynamic_moi_rescaling>
Description: Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1114
Required: 1    Type: bool    Default: 0
<friction_model>
Description: Name of ODE friction model to use. Valid values include: pyramid_model: (default) friction forces limited in two directions in proportion to normal force. box_model: friction forces limited to constant in two directions. cone_model: friction force magnitude limited in proportion to normal force. See gazebo pull request 1522 for the implementation of this feature. https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1522 https://github.com/osrf/gazebo/commit/968dccafdfbfca09c9b3326f855612076fed7e6f
Required: 0    Type: string    Default: pyramid_model
<constraints>
Description: ODE constraint parameters.
Required: 1    Type: n/a
<cfm>
Description: Constraint force mixing parameter. See the ODE page for more information.
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter. See the ODE page for more information.
Required: 1    Type: double    Default: 0.2
<contact_max_correcting_vel>
Description: The maximum correcting velocities allowed when resolving contacts.
Required: 1    Type: double    Default: 100
<contact_surface_layer>
Description: The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken.
Required: 1    Type: double    Default: 0.001
<scene>
Description: Specifies the look of the environment.
Required: 1    Type: n/a
<ambient>
Description: Color of the ambient light.
Required: 1    Type: color    Default: 0.4 0.4 0.4 1
<background>
Description: Color of the background.
Required: 1    Type: color    Default: 0.7 0.7 0.7 1
<sky>
Description: Properties for the sky
Required: 0    Type: n/a
<time>
Description: Time of day [0..24]
Required: 0    Type: double    Default: 10
<sunrise>
Description: Sunrise time [0..24]
Required: 0    Type: double    Default: 6
<sunset>
Description: Sunset time [0..24]
Required: 0    Type: double    Default: 20
<clouds>
Description: Sunset time [0..24]
Required: 0    Type: n/a
<speed>
Description: Speed of the clouds
Required: 0    Type: double    Default: 0.6
<direction>
Description: Direction of the cloud movement
Required: 0    Type: double    Default: 0
<humidity>
Description: Density of clouds
Required: 0    Type: double    Default: 0.5
<mean_size>
Description: Average size of the clouds
Required: 0    Type: double    Default: 0.5
<ambient>
Description: Ambient cloud color
Required: 0    Type: color    Default: 0.8 0.8 0.8 1
<shadows>
Description: Enable/disable shadows
Required: 1    Type: bool    Default: 1
<fog>
Description: Controls fog
Required: 0    Type: n/a
<color>
Description: Fog color
Required: 0    Type: color    Default: 1 1 1 1
<type>
Description: Fog type: constant, linear, quadratic
Required: 0    Type: string    Default: none
<start>
Description: Distance to start of fog
Required: 0    Type: double    Default: 1
<end>
Description: Distance to end of fog
Required: 0    Type: double    Default: 100
<density>
Description: Density of fog
Required: 0    Type: double    Default: 1
<grid>
Description: Enable/disable the grid
Required: 0    Type: bool    Default: 1
<origin_visual>
Description: Show/hide world origin indicator
Required: 0    Type: bool    Default: 1
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<frame>
Description: A frame of reference to which a pose is relative.
Required: *    Type: n/a
Attributes
name:
Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.
Type: string   Default:
attached_to:
Name of the link or frame to which this frame is attached. If a frame is specified, recursively following the attached_to attributes of the specified frames must lead to the name of a link, a model, or the world frame.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<model>
Description: The model element defines a complete robot or any other physical object.
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another model in the world.
Type: string   Default: __default__
canonical_link:
The name of the model's canonical link, to which the model's implicit coordinate frame is attached. If unset or set to an empty string, the first link element listed as a child of this model is chosen as the canonical link.
Type: string   Default:

<static>
Description: If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If set to true, all links in the model will collide with each other (except those connected by a joint). Can be overridden by the link or collision element self_collide property. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<allow_auto_disable>
Description: Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints.
Required: 0    Type: bool    Default: 1
<include>
Description: Include resources from a URI. This can be used to nest models.
Required: *    Type: n/a
<uri>
Description: URI to a resource, such as a model
Required: 1    Type: string    Default: __default__
<name>
Description: Override the name of the included model.
Required: 0    Type: string    Default:
<static>
Description: Override the static value of the included model.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<model>
Description: A nested model element
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another nested model in the same level as this model.
Type: string   Default: __default__

<enable_wind>
Description: If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.
Required: 0    Type: bool    Default: 0
<frame>
Description: A frame of reference to which a pose is relative.
Required: *    Type: n/a
Attributes
name:
Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.
Type: string   Default:
attached_to:
Name of the link or frame to which this frame is attached. If a frame is specified, recursively following the attached_to attributes of the specified frames must lead to the name of a link, a model, or the world frame.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<link>
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.
Required: *    Type: n/a
Attributes
name:
A unique name for the link within the scope of the model.
Type: string   Default: __default__

<gravity>
Description: If true, the link is affected by gravity.
Required: 0    Type: bool    Default: 1
<enable_wind>
Description: If true, the link is affected by the wind.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If true, the link can collide with other links in the model. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<kinematic>
Description: If true, the link is kinematic only
Required: 0    Type: bool    Default: 0
<must_be_base_link>
Description: If true, the link will have 6DOF and be a direct child of world.
Required: 0    Type: bool    Default: 0
<velocity_decay>
Description: Exponential damping of the link's velocity.
Required: 0    Type: n/a
<linear>
Description: Linear damping
Required: 0    Type: double    Default: 0
<angular>
Description: Angular damping
Required: 0    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<inertial>
Description: The inertial properties of the link.
Required: 0    Type: n/a
<mass>
Description: The mass of the link.
Required: 0    Type: double    Default: 1
<inertia>
Description: The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.
Required: 0    Type: n/a
<ixx>
Description: none
Required: 1    Type: double    Default: 1
<ixy>
Description: none
Required: 1    Type: double    Default: 0
<ixz>
Description: none
Required: 1    Type: double    Default: 0
<iyy>
Description: none
Required: 1    Type: double    Default: 1
<iyz>
Description: none
Required: 1    Type: double    Default: 0
<izz>
Description: none
Required: 1    Type: double    Default: 1
<pose>
Description: This is the pose of the inertial reference frame, relative to the specified reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<collision>
Description: The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.
Required: *    Type: n/a
Attributes
name:
Unique name for the collision element within the scope of the parent link.
Type: string   Default: __default__

<laser_retro>
Description: intensity value returned by laser sensor.
Required: 0    Type: double    Default: 0
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.
Required: 0    Type: int    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<surface>
Description: The surface parameters
Required: 0    Type: n/a
<bounce>
Description: none
Required: 0    Type: n/a
<restitution_coefficient>
Description: Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.
Required: 0    Type: double    Default: 0
<threshold>
Description: Bounce capture velocity, below which effective coefficient of restitution is 0.
Required: 0    Type: double    Default: 100000
<friction>
Description: none
Required: 0    Type: n/a
<torsional>
Description: Parameters for torsional friction
Required: 0    Type: n/a
<coefficient>
Description: Torsional friction coefficient, unitless maximum ratio of tangential stress to normal stress.
Required: 0    Type: double    Default: 1
<use_patch_radius>
Description: If this flag is true, torsional friction is calculated using the "patch_radius" parameter. If this flag is set to false, "surface_radius" (R) and contact depth (d) are used to compute the patch radius as sqrt(R*d).
Required: 0    Type: bool    Default: 1
<patch_radius>
Description: Radius of contact patch surface.
Required: 0    Type: double    Default: 0
<surface_radius>
Description: Surface radius on the point of contact.
Required: 0    Type: double    Default: 0
<ode>
Description: Torsional friction parameters for ODE
Required: 0    Type: n/a
<slip>
Description: Force dependent slip for torsional friction, equivalent to inverse of viscous damping coefficient with units of rad/s/(Nm). A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<ode>
Description: ODE friction parameters
Required: 0    Type: n/a
<mu>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<mu2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the ODE Collide callback function will align the friction pyramid directions with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<slip1>
Description: Force dependent slip in first friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<slip2>
Description: Force dependent slip in second friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<bullet>
Description: none
Required: 0    Type: n/a
<friction>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<friction2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the friction pyramid directions will be aligned with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<rolling_friction>
Description: Coefficient of rolling friction
Required: 0    Type: double    Default: 1
<contact>
Description: none
Required: 0    Type: n/a
<collide_without_contact>
Description: Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.
Required: 0    Type: bool    Default: 0
<collide_without_contact_bitmask>
Description: Bitmask for collision filtering when collide_without_contact is on
Required: 0    Type: unsigned int    Default: 1
<collide_bitmask>
Description: Bitmask for collision filtering. This will override collide_without_contact. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<category_bitmask>
Description: Bitmask for category of collision filtering. Collision happens if ((category1 & collision2) | (category2 & collision1)) is not zero. If not specified, the category_bitmask should be interpreted as being the same as collide_bitmask. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<poissons_ratio>
Description: Poisson's ratio is the unitless ratio between transverse and axial strain. This value must lie between (-1, 0.5). Defaults to 0.3 for typical steel. Note typical silicone elastomers have Poisson's ratio near 0.49 ~ 0.50. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: 0.3
<elastic_modulus>
Description: Young's Modulus in SI derived unit Pascal. Defaults to -1. If value is less or equal to zero, contact using elastic modulus (with Poisson's Ratio) is disabled. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: -1
<ode>
Description: ODE contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<max_vel>
Description: maximum contact correction velocity truncation term.
Required: 0    Type: double    Default: 0.01
<min_depth>
Description: minimum allowable depth before contact correction impulse is applied
Required: 0    Type: double    Default: 0
<bullet>
Description: Bullet contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: bool    Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: double    Default: -0.01
<soft_contact>
Description: none
Required: 0    Type: n/a
<dart>
Description: soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf
Required: 0    Type: n/a
<bone_attachment>
Description: This is variable k_v in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<stiffness>
Description: This is variable k_e in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<damping>
Description: Viscous damping of point velocity in body frame. Its unit is N/m/s.
Required: 1    Type: double    Default: 10
<flesh_mass_fraction>
Description: Fraction of mass to be distributed among deformable nodes.
Required: 1    Type: double    Default: 0.05
<visual>
Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.
Required: *    Type: n/a
Attributes
name:
Unique name for the visual element within the scope of the parent link.
Type: string   Default: __default__

<cast_shadows>
Description: If true the visual will cast shadows.
Required: 0    Type: bool    Default: 1
<laser_retro>
Description: will be implemented in the future release.
Required: 0    Type: double    Default: 0
<transparency>
Description: The amount of transparency( 0=opaque, 1 = fully transparent)
Required: 0    Type: double    Default: 0
<visibility_flags>
Description: Visibility flags of a visual. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<meta>
Description: Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user.
Required: 0    Type: n/a
<layer>
Description: The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.
Required: 0    Type: int    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<material>
Description: The material of the visual element.
Required: 0    Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0    Type: n/a
<uri>
Description: URI of the material script file
Required: +    Type: string    Default: __default__
<name>
Description: Name of the script within the script file
Required: 1    Type: string    Default: __default__
<shader>
Description: none
Required: 0    Type: n/a
Attributes
type:
vertex, pixel, normal_map_object_space, normal_map_tangent_space
Type: string   Default: pixel

<normal_map>
Description: filename of the normal map
Required: 0    Type: string    Default: __default__
<lighting>
Description: If false, dynamic lighting will be disabled
Required: 0    Type: bool    Default: 1
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<shininess>
Description: The specular exponent of a material
Required: 0    Type: double    Default: 0
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<double_sided>
Description: If true, the mesh that this material is applied to will be rendered as double sided
Required: 0    Type: bool    Default: 0
<pbr>
Description: Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
Required: 0    Type: n/a
<metal>
Description: PBR using the Metallic/Roughness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<roughness_map>
Description: Filename of the roughness map.
Required: 0    Type: string    Default:
<roughness>
Description: Material roughness in the range of [0,1], where 0 represents a smooth surface and 1 represents a rough surface. This is the inverse of a specular map in a PBR specular workflow.
Required: 0    Type: string    Default: 0.5
<metalness_map>
Description: Filename of the metalness map.
Required: 0    Type: string    Default:
<metalness>
Description: Material metalness in the range of [0,1], where 0 represents non-metal and 1 represents raw metal
Required: 0    Type: string    Default: 0.5
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<specular>
Description: PBR using the Specular/Glossiness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<specular_map>
Description: Filename of the specular map.
Required: 0    Type: string    Default:
<glossiness_map>
Description: Filename of the glossiness map.
Required: 0    Type: string    Default:
<glossiness>
Description: Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.
Required: 0    Type: string    Default: 0
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<projector>
Description: none
Required: 0    Type: n/a
Attributes
name:
Name of the projector
Type: string   Default: __default__

<texture>
Description: Texture name
Required: 1    Type: string    Default: __default__
<fov>
Description: Field of view
Required: 0    Type: double    Default: 0.785
<near_clip>
Description: Near clip distance
Required: 0    Type: double    Default: 0.1
<far_clip>
Description: far clip distance
Required: 0    Type: double    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<audio_sink>
Description: An audio sink.
Required: *    Type: n/a
<audio_source>
Description: An audio source.
Required: *    Type: n/a
<uri>
Description: URI of the audio media.
Required: 1    Type: string    Default: __default__
<pitch>
Description: Pitch for the audio media, in Hz
Required: 0    Type: double    Default: 1
<gain>
Description: Gain for the audio media, in dB.
Required: 0    Type: double    Default: 1
<contact>
Description: List of collision objects that will trigger audio playback.
Required: 0    Type: n/a
<collision>
Description: Name of child collision element that will trigger audio playback.
Required: +    Type: string    Default: __default__
<loop>
Description: True to make the audio source loop playback.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<battery>
Description: Description of a battery.
Required: *    Type: n/a
Attributes
name:
Unique name for the battery.
Type: string   Default: __default__

<voltage>
Description: Initial voltage in volts.
Required: 1    Type: double    Default: 0
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<joint>
Description: A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame.
Required: *    Type: n/a
Attributes
name:
A unique name for the joint within the scope of the model.
Type: string   Default: __default__
type:
The type of joint, which must be one of the following: (continuous) a hinge joint that rotates on a single axis with a continuous range of motion, (revolute) a hinge joint that rotates on a single axis with a fixed range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.
Type: string   Default: __default__

<parent>
Description: Name of the parent link or "world".
Required: 1    Type: string    Default: __default__
<child>
Description: Name of the child link. The value "world" may not be specified.
Required: 1    Type: string    Default: __default__
<gearbox_ratio>
Description: Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.
Required: 0    Type: double    Default: 1
<gearbox_reference_body>
Description: Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.
Required: 0    Type: string    Default: __default__
<thread_pitch>
Description: Parameter for screw joints.
Required: 0    Type: double    Default: 1
<axis>
Description: Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: specifies the limits of this joint
Required: 1    Type: n/a
<lower>
Description: Specifies the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: -1e+16
<upper>
Description: Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: 1e+16
<effort>
Description: A value for enforcing the maximum joint effort applied. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: A value for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation.
Required: 0    Type: double    Default: 1
<axis2>
Description: Parameters related to the second axis of rotation for revolute2 joints and universal joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: none
Required: 1    Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1
<physics>
Description: Parameters that are specific to a certain physics engine.
Required: 0    Type: n/a
<simbody>
Description: Simbody specific parameters
Required: 0    Type: n/a
<must_be_loop_joint>
Description: Force cut in the multibody graph at this joint.
Required: 0    Type: bool    Default: 0
<ode>
Description: ODE specific parameters
Required: 0    Type: n/a
<cfm_damping>
Description: If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active.
Required: 0    Type: bool    Default: 0
<implicit_spring_damper>
Description: If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4.
Required: 0    Type: bool    Default: 0
<fudge_factor>
Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.
Required: 0    Type: double    Default: 0
<cfm>
Description: Constraint force mixing for constrained directions
Required: 0    Type: double    Default: 0
<erp>
Description: Error reduction parameter for constrained directions
Required: 0    Type: double    Default: 0.2
<bounce>
Description: Bounciness of the limits
Required: 0    Type: double    Default: 0
<max_force>
Description: Maximum force or torque used to reach the desired velocity.
Required: 0    Type: double    Default: 0
<velocity>
Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.
Required: 0    Type: double    Default: 0
<limit>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Constraint force mixing parameter used by the joint stop
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter used by the joint stop
Required: 1    Type: double    Default: 0.2
<suspension>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Suspension constraint force mixing parameter
Required: 1    Type: double    Default: 0
<erp>
Description: Suspension error reduction parameter
Required: 1    Type: double    Default: 0.2
<provide_feedback>
Description: If provide feedback is set to true, physics engine will compute the constraint forces at this joint.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<gripper>
Description: none
Required: *    Type: n/a
Attributes
name:
no description
Type: string   Default: __default__

<grasp_check>
Description: none
Required: 0    Type: n/a
<detach_steps>
Description: none
Required: 0    Type: int    Default: 40
<attach_steps>
Description: none
Required: 0    Type: int    Default: 20
<min_contact_count>
Description: none
Required: 0    Type: unsigned int    Default: 2
<gripper_link>
Description: none
Required: +    Type: string    Default: __default__
<palm_link>
Description: none
Required: 1    Type: string    Default: __default__
<actor>
Description: A special kind of model which can have a scripted motion. This includes both global waypoint type animations and skeleton animations.
Required: *    Type: n/a
Attributes
name:
A unique name for the actor.
Type: string   Default: __default__

<skin>
Description: Skin file which defines a visual and the underlying skeleton which moves it.
Required: 0    Type: n/a
<filename>
Description: Path to skin file, accepted formats: COLLADA, BVH.
Required: 1    Type: string    Default: __default__
<scale>
Description: Scale the skin's size.
Required: 0    Type: double    Default: 1
<animation>
Description: Animation file defines an animation for the skeleton in the skin. The skeleton must be compatible with the skin skeleton.
Required: *    Type: n/a
Attributes
name:
Unique name for animation.
Type: string   Default: __default__

<filename>
Description: Path to animation file. Accepted formats: COLLADA, BVH.
Required: 1    Type: string    Default: __default__
<scale>
Description: Scale for the animation skeleton.
Required: 0    Type: double    Default: 1
<interpolate_x>
Description: Set to true so the animation is interpolated on X.
Required: 0    Type: bool    Default: 0
<script>
Description: Adds scripted trajectories to the actor.
Required: 1    Type: n/a
<loop>
Description: Set this to true for the script to be repeated in a loop. For a fluid continuous motion, make sure the last waypoint matches the first one.
Required: 0    Type: bool    Default: 1
<delay_start>
Description: This is the time to wait before starting the script. If running in a loop, this time will be waited before starting each cycle.
Required: 0    Type: double    Default: 0
<auto_start>
Description: Set to true if the animation should start as soon as the simulation starts playing. It is useful to set this to false if the animation should only start playing only when triggered by a plugin, for example.
Required: 0    Type: bool    Default: 1
<trajectory>
Description: The trajectory contains a series of keyframes to be followed.
Required: *    Type: n/a
Attributes
id:
Unique id for a trajectory.
Type: int   Default: 0
type:
If it matches the type of an animation, they will be played at the same time.
Type: string   Default: __default__
tension:
The tension of the trajectory spline. The default value of zero equates to a Catmull-Rom spline, which may also cause the animation to overshoot keyframes. A value of one will cause the animation to stick to the keyframes.
Type: double   Default: 0

<waypoint>
Description: Each point in the trajectory.
Required: *    Type: n/a
<time>
Description: The time in seconds, counted from the beginning of the script, when the pose should be reached.
Required: 1    Type: double    Default: 0
<pose>
Description: The pose which should be reached at the given time.
Required: 1    Type: pose    Default: 0 0 0 0 -0 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<link>
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.
Required: *    Type: n/a
Attributes
name:
A unique name for the link within the scope of the model.
Type: string   Default: __default__

<gravity>
Description: If true, the link is affected by gravity.
Required: 0    Type: bool    Default: 1
<enable_wind>
Description: If true, the link is affected by the wind.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If true, the link can collide with other links in the model. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<kinematic>
Description: If true, the link is kinematic only
Required: 0    Type: bool    Default: 0
<must_be_base_link>
Description: If true, the link will have 6DOF and be a direct child of world.
Required: 0    Type: bool    Default: 0
<velocity_decay>
Description: Exponential damping of the link's velocity.
Required: 0    Type: n/a
<linear>
Description: Linear damping
Required: 0    Type: double    Default: 0
<angular>
Description: Angular damping
Required: 0    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<inertial>
Description: The inertial properties of the link.
Required: 0    Type: n/a
<mass>
Description: The mass of the link.
Required: 0    Type: double    Default: 1
<inertia>
Description: The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.
Required: 0    Type: n/a
<ixx>
Description: none
Required: 1    Type: double    Default: 1
<ixy>
Description: none
Required: 1    Type: double    Default: 0
<ixz>
Description: none
Required: 1    Type: double    Default: 0
<iyy>
Description: none
Required: 1    Type: double    Default: 1
<iyz>
Description: none
Required: 1    Type: double    Default: 0
<izz>
Description: none
Required: 1    Type: double    Default: 1
<pose>
Description: This is the pose of the inertial reference frame, relative to the specified reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<collision>
Description: The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.
Required: *    Type: n/a
Attributes
name:
Unique name for the collision element within the scope of the parent link.
Type: string   Default: __default__

<laser_retro>
Description: intensity value returned by laser sensor.
Required: 0    Type: double    Default: 0
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.
Required: 0    Type: int    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<surface>
Description: The surface parameters
Required: 0    Type: n/a
<bounce>
Description: none
Required: 0    Type: n/a
<restitution_coefficient>
Description: Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.
Required: 0    Type: double    Default: 0
<threshold>
Description: Bounce capture velocity, below which effective coefficient of restitution is 0.
Required: 0    Type: double    Default: 100000
<friction>
Description: none
Required: 0    Type: n/a
<torsional>
Description: Parameters for torsional friction
Required: 0    Type: n/a
<coefficient>
Description: Torsional friction coefficient, unitless maximum ratio of tangential stress to normal stress.
Required: 0    Type: double    Default: 1
<use_patch_radius>
Description: If this flag is true, torsional friction is calculated using the "patch_radius" parameter. If this flag is set to false, "surface_radius" (R) and contact depth (d) are used to compute the patch radius as sqrt(R*d).
Required: 0    Type: bool    Default: 1
<patch_radius>
Description: Radius of contact patch surface.
Required: 0    Type: double    Default: 0
<surface_radius>
Description: Surface radius on the point of contact.
Required: 0    Type: double    Default: 0
<ode>
Description: Torsional friction parameters for ODE
Required: 0    Type: n/a
<slip>
Description: Force dependent slip for torsional friction, equivalent to inverse of viscous damping coefficient with units of rad/s/(Nm). A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<ode>
Description: ODE friction parameters
Required: 0    Type: n/a
<mu>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<mu2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the ODE Collide callback function will align the friction pyramid directions with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<slip1>
Description: Force dependent slip in first friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<slip2>
Description: Force dependent slip in second friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<bullet>
Description: none
Required: 0    Type: n/a
<friction>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<friction2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the friction pyramid directions will be aligned with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<rolling_friction>
Description: Coefficient of rolling friction
Required: 0    Type: double    Default: 1
<contact>
Description: none
Required: 0    Type: n/a
<collide_without_contact>
Description: Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.
Required: 0    Type: bool    Default: 0
<collide_without_contact_bitmask>
Description: Bitmask for collision filtering when collide_without_contact is on
Required: 0    Type: unsigned int    Default: 1
<collide_bitmask>
Description: Bitmask for collision filtering. This will override collide_without_contact. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<category_bitmask>
Description: Bitmask for category of collision filtering. Collision happens if ((category1 & collision2) | (category2 & collision1)) is not zero. If not specified, the category_bitmask should be interpreted as being the same as collide_bitmask. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<poissons_ratio>
Description: Poisson's ratio is the unitless ratio between transverse and axial strain. This value must lie between (-1, 0.5). Defaults to 0.3 for typical steel. Note typical silicone elastomers have Poisson's ratio near 0.49 ~ 0.50. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: 0.3
<elastic_modulus>
Description: Young's Modulus in SI derived unit Pascal. Defaults to -1. If value is less or equal to zero, contact using elastic modulus (with Poisson's Ratio) is disabled. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: -1
<ode>
Description: ODE contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<max_vel>
Description: maximum contact correction velocity truncation term.
Required: 0    Type: double    Default: 0.01
<min_depth>
Description: minimum allowable depth before contact correction impulse is applied
Required: 0    Type: double    Default: 0
<bullet>
Description: Bullet contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: bool    Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: double    Default: -0.01
<soft_contact>
Description: none
Required: 0    Type: n/a
<dart>
Description: soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf
Required: 0    Type: n/a
<bone_attachment>
Description: This is variable k_v in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<stiffness>
Description: This is variable k_e in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<damping>
Description: Viscous damping of point velocity in body frame. Its unit is N/m/s.
Required: 1    Type: double    Default: 10
<flesh_mass_fraction>
Description: Fraction of mass to be distributed among deformable nodes.
Required: 1    Type: double    Default: 0.05
<visual>
Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.
Required: *    Type: n/a
Attributes
name:
Unique name for the visual element within the scope of the parent link.
Type: string   Default: __default__

<cast_shadows>
Description: If true the visual will cast shadows.
Required: 0    Type: bool    Default: 1
<laser_retro>
Description: will be implemented in the future release.
Required: 0    Type: double    Default: 0
<transparency>
Description: The amount of transparency( 0=opaque, 1 = fully transparent)
Required: 0    Type: double    Default: 0
<visibility_flags>
Description: Visibility flags of a visual. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<meta>
Description: Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user.
Required: 0    Type: n/a
<layer>
Description: The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.
Required: 0    Type: int    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<material>
Description: The material of the visual element.
Required: 0    Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0    Type: n/a
<uri>
Description: URI of the material script file
Required: +    Type: string    Default: __default__
<name>
Description: Name of the script within the script file
Required: 1    Type: string    Default: __default__
<shader>
Description: none
Required: 0    Type: n/a
Attributes
type:
vertex, pixel, normal_map_object_space, normal_map_tangent_space
Type: string   Default: pixel

<normal_map>
Description: filename of the normal map
Required: 0    Type: string    Default: __default__
<lighting>
Description: If false, dynamic lighting will be disabled
Required: 0    Type: bool    Default: 1
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<shininess>
Description: The specular exponent of a material
Required: 0    Type: double    Default: 0
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<double_sided>
Description: If true, the mesh that this material is applied to will be rendered as double sided
Required: 0    Type: bool    Default: 0
<pbr>
Description: Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
Required: 0    Type: n/a
<metal>
Description: PBR using the Metallic/Roughness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<roughness_map>
Description: Filename of the roughness map.
Required: 0    Type: string    Default:
<roughness>
Description: Material roughness in the range of [0,1], where 0 represents a smooth surface and 1 represents a rough surface. This is the inverse of a specular map in a PBR specular workflow.
Required: 0    Type: string    Default: 0.5
<metalness_map>
Description: Filename of the metalness map.
Required: 0    Type: string    Default:
<metalness>
Description: Material metalness in the range of [0,1], where 0 represents non-metal and 1 represents raw metal
Required: 0    Type: string    Default: 0.5
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<specular>
Description: PBR using the Specular/Glossiness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<specular_map>
Description: Filename of the specular map.
Required: 0    Type: string    Default:
<glossiness_map>
Description: Filename of the glossiness map.
Required: 0    Type: string    Default:
<glossiness>
Description: Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.
Required: 0    Type: string    Default: 0
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<projector>
Description: none
Required: 0    Type: n/a
Attributes
name:
Name of the projector
Type: string   Default: __default__

<texture>
Description: Texture name
Required: 1    Type: string    Default: __default__
<fov>
Description: Field of view
Required: 0    Type: double    Default: 0.785
<near_clip>
Description: Near clip distance
Required: 0    Type: double    Default: 0.1
<far_clip>
Description: far clip distance
Required: 0    Type: double    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<audio_sink>
Description: An audio sink.
Required: *    Type: n/a
<audio_source>
Description: An audio source.
Required: *    Type: n/a
<uri>
Description: URI of the audio media.
Required: 1    Type: string    Default: __default__
<pitch>
Description: Pitch for the audio media, in Hz
Required: 0    Type: double    Default: 1
<gain>
Description: Gain for the audio media, in dB.
Required: 0    Type: double    Default: 1
<contact>
Description: List of collision objects that will trigger audio playback.
Required: 0    Type: n/a
<collision>
Description: Name of child collision element that will trigger audio playback.
Required: +    Type: string    Default: __default__
<loop>
Description: True to make the audio source loop playback.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<battery>
Description: Description of a battery.
Required: *    Type: n/a
Attributes
name:
Unique name for the battery.
Type: string   Default: __default__

<voltage>
Description: Initial voltage in volts.
Required: 1    Type: double    Default: 0
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<joint>
Description: A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame.
Required: *    Type: n/a
Attributes
name:
A unique name for the joint within the scope of the model.
Type: string   Default: __default__
type:
The type of joint, which must be one of the following: (continuous) a hinge joint that rotates on a single axis with a continuous range of motion, (revolute) a hinge joint that rotates on a single axis with a fixed range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.
Type: string   Default: __default__

<parent>
Description: Name of the parent link or "world".
Required: 1    Type: string    Default: __default__
<child>
Description: Name of the child link. The value "world" may not be specified.
Required: 1    Type: string    Default: __default__
<gearbox_ratio>
Description: Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.
Required: 0    Type: double    Default: 1
<gearbox_reference_body>
Description: Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.
Required: 0    Type: string    Default: __default__
<thread_pitch>
Description: Parameter for screw joints.
Required: 0    Type: double    Default: 1
<axis>
Description: Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: specifies the limits of this joint
Required: 1    Type: n/a
<lower>
Description: Specifies the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: -1e+16
<upper>
Description: Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: 1e+16
<effort>
Description: A value for enforcing the maximum joint effort applied. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: A value for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation.
Required: 0    Type: double    Default: 1
<axis2>
Description: Parameters related to the second axis of rotation for revolute2 joints and universal joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: none
Required: 1    Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1
<physics>
Description: Parameters that are specific to a certain physics engine.
Required: 0    Type: n/a
<simbody>
Description: Simbody specific parameters
Required: 0    Type: n/a
<must_be_loop_joint>
Description: Force cut in the multibody graph at this joint.
Required: 0    Type: bool    Default: 0
<ode>
Description: ODE specific parameters
Required: 0    Type: n/a
<cfm_damping>
Description: If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active.
Required: 0    Type: bool    Default: 0
<implicit_spring_damper>
Description: If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4.
Required: 0    Type: bool    Default: 0
<fudge_factor>
Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.
Required: 0    Type: double    Default: 0
<cfm>
Description: Constraint force mixing for constrained directions
Required: 0    Type: double    Default: 0
<erp>
Description: Error reduction parameter for constrained directions
Required: 0    Type: double    Default: 0.2
<bounce>
Description: Bounciness of the limits
Required: 0    Type: double    Default: 0
<max_force>
Description: Maximum force or torque used to reach the desired velocity.
Required: 0    Type: double    Default: 0
<velocity>
Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.
Required: 0    Type: double    Default: 0
<limit>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Constraint force mixing parameter used by the joint stop
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter used by the joint stop
Required: 1    Type: double    Default: 0.2
<suspension>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Suspension constraint force mixing parameter
Required: 1    Type: double    Default: 0
<erp>
Description: Suspension error reduction parameter
Required: 1    Type: double    Default: 0.2
<provide_feedback>
Description: If provide feedback is set to true, physics engine will compute the constraint forces at this joint.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<road>
Description: none
Required: *    Type: n/a
Attributes
name:
Name of the road
Type: string   Default: __default__

<width>
Description: Width of the road
Required: 1    Type: double    Default: 1
<point>
Description: A series of points that define the path of the road.
Required: +    Type: vector3    Default: 0 0 0
<material>
Description: The material of the visual element.
Required: 0    Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0    Type: n/a
<uri>
Description: URI of the material script file
Required: +    Type: string    Default: __default__
<name>
Description: Name of the script within the script file
Required: 1    Type: string    Default: __default__
<shader>
Description: none
Required: 0    Type: n/a
Attributes
type:
vertex, pixel, normal_map_object_space, normal_map_tangent_space
Type: string   Default: pixel

<normal_map>
Description: filename of the normal map
Required: 0    Type: string    Default: __default__
<lighting>
Description: If false, dynamic lighting will be disabled
Required: 0    Type: bool    Default: 1
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<shininess>
Description: The specular exponent of a material
Required: 0    Type: double    Default: 0
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<double_sided>
Description: If true, the mesh that this material is applied to will be rendered as double sided
Required: 0    Type: bool    Default: 0
<pbr>
Description: Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
Required: 0    Type: n/a
<metal>
Description: PBR using the Metallic/Roughness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<roughness_map>
Description: Filename of the roughness map.
Required: 0    Type: string    Default:
<roughness>
Description: Material roughness in the range of [0,1], where 0 represents a smooth surface and 1 represents a rough surface. This is the inverse of a specular map in a PBR specular workflow.
Required: 0    Type: string    Default: 0.5
<metalness_map>
Description: Filename of the metalness map.
Required: 0    Type: string    Default:
<metalness>
Description: Material metalness in the range of [0,1], where 0 represents non-metal and 1 represents raw metal
Required: 0    Type: string    Default: 0.5
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<specular>
Description: PBR using the Specular/Glossiness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<specular_map>
Description: Filename of the specular map.
Required: 0    Type: string    Default:
<glossiness_map>
Description: Filename of the glossiness map.
Required: 0    Type: string    Default:
<glossiness>
Description: Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.
Required: 0    Type: string    Default: 0
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<spherical_coordinates>
Description: none
Required: 0    Type: n/a
<surface_model>
Description: Name of planetary surface model, used to determine the surface altitude at a given latitude and longitude. The default is an ellipsoid model of the earth based on the WGS-84 standard. It is used in Gazebo's GPS sensor implementation.
Required: 1    Type: string    Default: EARTH_WGS84
<world_frame_orientation>
Description: This field identifies how Gazebo world frame is aligned in Geographical sense. The final Gazebo world frame orientation is obtained by rotating a frame aligned with following notation by the field heading_deg (Note that heading_deg corresponds to positive yaw rotation in the NED frame, so it's inverse specifies positive Z-rotation in ENU or NWU). Options are: - ENU (East-North-Up) - NED (North-East-Down) - NWU (North-West-Up) For example, world frame specified by setting world_orientation="ENU" and heading_deg=-90° is effectively equivalent to NWU with heading of 0°.
Required: 0    Type: string    Default: ENU
<latitude_deg>
Description: Geodetic latitude at origin of gazebo reference frame, specified in units of degrees.
Required: 1    Type: double    Default: 0
<longitude_deg>
Description: Longitude at origin of gazebo reference frame, specified in units of degrees.
Required: 1    Type: double    Default: 0
<elevation>
Description: Elevation of origin of gazebo reference frame, specified in meters.
Required: 1    Type: double    Default: 0
<heading_deg>
Description: Heading offset of gazebo reference frame, measured as angle between Gazebo world frame and the world_frame_orientation type (ENU/NED/NWU). Rotations about the downward-vector (e.g. North to East) are positive. The direction of rotation is chosen to be consistent with compass heading convention (e.g. 0 degrees points North and 90 degrees points East, positive rotation indicates counterclockwise rotation when viewed from top-down direction). The angle is specified in degrees.
Required: 1    Type: double    Default: 0
<state>
Description: none
Required: *    Type: n/a
Attributes
world_name:
Name of the world this state applies to
Type: string   Default: __default__

<sim_time>
Description: Simulation time stamp of the state [seconds nanoseconds]
Required: 0    Type: time    Default: 0 0
<wall_time>
Description: Wall time stamp of the state [seconds nanoseconds]
Required: 0    Type: time    Default: 0 0
<real_time>
Description: Real time stamp of the state [seconds nanoseconds]
Required: 0    Type: time    Default: 0 0
<iterations>
Description: Number of simulation iterations.
Required: 1    Type: unsigned int    Default: 0
<insertions>
Description: A list containing the entire description of entities inserted.
Required: 0    Type: n/a
<model>
Description: The model element defines a complete robot or any other physical object.
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another model in the world.
Type: string   Default: __default__
canonical_link:
The name of the model's canonical link, to which the model's implicit coordinate frame is attached. If unset or set to an empty string, the first link element listed as a child of this model is chosen as the canonical link.
Type: string   Default:

<static>
Description: If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If set to true, all links in the model will collide with each other (except those connected by a joint). Can be overridden by the link or collision element self_collide property. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<allow_auto_disable>
Description: Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints.
Required: 0    Type: bool    Default: 1
<include>
Description: Include resources from a URI. This can be used to nest models.
Required: *    Type: n/a
<uri>
Description: URI to a resource, such as a model
Required: 1    Type: string    Default: __default__
<name>
Description: Override the name of the included model.
Required: 0    Type: string    Default:
<static>
Description: Override the static value of the included model.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<model>
Description: A nested model element
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another nested model in the same level as this model.
Type: string   Default: __default__

<enable_wind>
Description: If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.
Required: 0    Type: bool    Default: 0
<frame>
Description: A frame of reference to which a pose is relative.
Required: *    Type: n/a
Attributes
name:
Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.
Type: string   Default:
attached_to:
Name of the link or frame to which this frame is attached. If a frame is specified, recursively following the attached_to attributes of the specified frames must lead to the name of a link, a model, or the world frame.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<link>
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.
Required: *    Type: n/a
Attributes
name:
A unique name for the link within the scope of the model.
Type: string   Default: __default__

<gravity>
Description: If true, the link is affected by gravity.
Required: 0    Type: bool    Default: 1
<enable_wind>
Description: If true, the link is affected by the wind.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If true, the link can collide with other links in the model. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<kinematic>
Description: If true, the link is kinematic only
Required: 0    Type: bool    Default: 0
<must_be_base_link>
Description: If true, the link will have 6DOF and be a direct child of world.
Required: 0    Type: bool    Default: 0
<velocity_decay>
Description: Exponential damping of the link's velocity.
Required: 0    Type: n/a
<linear>
Description: Linear damping
Required: 0    Type: double    Default: 0
<angular>
Description: Angular damping
Required: 0    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<inertial>
Description: The inertial properties of the link.
Required: 0    Type: n/a
<mass>
Description: The mass of the link.
Required: 0    Type: double    Default: 1
<inertia>
Description: The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.
Required: 0    Type: n/a
<ixx>
Description: none
Required: 1    Type: double    Default: 1
<ixy>
Description: none
Required: 1    Type: double    Default: 0
<ixz>
Description: none
Required: 1    Type: double    Default: 0
<iyy>
Description: none
Required: 1    Type: double    Default: 1
<iyz>
Description: none
Required: 1    Type: double    Default: 0
<izz>
Description: none
Required: 1    Type: double    Default: 1
<pose>
Description: This is the pose of the inertial reference frame, relative to the specified reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<collision>
Description: The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.
Required: *    Type: n/a
Attributes
name:
Unique name for the collision element within the scope of the parent link.
Type: string   Default: __default__

<laser_retro>
Description: intensity value returned by laser sensor.
Required: 0    Type: double    Default: 0
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.
Required: 0    Type: int    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<surface>
Description: The surface parameters
Required: 0    Type: n/a
<bounce>
Description: none
Required: 0    Type: n/a
<restitution_coefficient>
Description: Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.
Required: 0    Type: double    Default: 0
<threshold>
Description: Bounce capture velocity, below which effective coefficient of restitution is 0.
Required: 0    Type: double    Default: 100000
<friction>
Description: none
Required: 0    Type: n/a
<torsional>
Description: Parameters for torsional friction
Required: 0    Type: n/a
<coefficient>
Description: Torsional friction coefficient, unitless maximum ratio of tangential stress to normal stress.
Required: 0    Type: double    Default: 1
<use_patch_radius>
Description: If this flag is true, torsional friction is calculated using the "patch_radius" parameter. If this flag is set to false, "surface_radius" (R) and contact depth (d) are used to compute the patch radius as sqrt(R*d).
Required: 0    Type: bool    Default: 1
<patch_radius>
Description: Radius of contact patch surface.
Required: 0    Type: double    Default: 0
<surface_radius>
Description: Surface radius on the point of contact.
Required: 0    Type: double    Default: 0
<ode>
Description: Torsional friction parameters for ODE
Required: 0    Type: n/a
<slip>
Description: Force dependent slip for torsional friction, equivalent to inverse of viscous damping coefficient with units of rad/s/(Nm). A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<ode>
Description: ODE friction parameters
Required: 0    Type: n/a
<mu>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<mu2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the ODE Collide callback function will align the friction pyramid directions with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<slip1>
Description: Force dependent slip in first friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<slip2>
Description: Force dependent slip in second friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<bullet>
Description: none
Required: 0    Type: n/a
<friction>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<friction2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the friction pyramid directions will be aligned with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<rolling_friction>
Description: Coefficient of rolling friction
Required: 0    Type: double    Default: 1
<contact>
Description: none
Required: 0    Type: n/a
<collide_without_contact>
Description: Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.
Required: 0    Type: bool    Default: 0
<collide_without_contact_bitmask>
Description: Bitmask for collision filtering when collide_without_contact is on
Required: 0    Type: unsigned int    Default: 1
<collide_bitmask>
Description: Bitmask for collision filtering. This will override collide_without_contact. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<category_bitmask>
Description: Bitmask for category of collision filtering. Collision happens if ((category1 & collision2) | (category2 & collision1)) is not zero. If not specified, the category_bitmask should be interpreted as being the same as collide_bitmask. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<poissons_ratio>
Description: Poisson's ratio is the unitless ratio between transverse and axial strain. This value must lie between (-1, 0.5). Defaults to 0.3 for typical steel. Note typical silicone elastomers have Poisson's ratio near 0.49 ~ 0.50. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: 0.3
<elastic_modulus>
Description: Young's Modulus in SI derived unit Pascal. Defaults to -1. If value is less or equal to zero, contact using elastic modulus (with Poisson's Ratio) is disabled. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: -1
<ode>
Description: ODE contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<max_vel>
Description: maximum contact correction velocity truncation term.
Required: 0    Type: double    Default: 0.01
<min_depth>
Description: minimum allowable depth before contact correction impulse is applied
Required: 0    Type: double    Default: 0
<bullet>
Description: Bullet contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: bool    Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: double    Default: -0.01
<soft_contact>
Description: none
Required: 0    Type: n/a
<dart>
Description: soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf
Required: 0    Type: n/a
<bone_attachment>
Description: This is variable k_v in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<stiffness>
Description: This is variable k_e in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<damping>
Description: Viscous damping of point velocity in body frame. Its unit is N/m/s.
Required: 1    Type: double    Default: 10
<flesh_mass_fraction>
Description: Fraction of mass to be distributed among deformable nodes.
Required: 1    Type: double    Default: 0.05
<visual>
Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.
Required: *    Type: n/a
Attributes
name:
Unique name for the visual element within the scope of the parent link.
Type: string   Default: __default__

<cast_shadows>
Description: If true the visual will cast shadows.
Required: 0    Type: bool    Default: 1
<laser_retro>
Description: will be implemented in the future release.
Required: 0    Type: double    Default: 0
<transparency>
Description: The amount of transparency( 0=opaque, 1 = fully transparent)
Required: 0    Type: double    Default: 0
<visibility_flags>
Description: Visibility flags of a visual. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<meta>
Description: Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user.
Required: 0    Type: n/a
<layer>
Description: The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.
Required: 0    Type: int    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<material>
Description: The material of the visual element.
Required: 0    Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0    Type: n/a
<uri>
Description: URI of the material script file
Required: +    Type: string    Default: __default__
<name>
Description: Name of the script within the script file
Required: 1    Type: string    Default: __default__
<shader>
Description: none
Required: 0    Type: n/a
Attributes
type:
vertex, pixel, normal_map_object_space, normal_map_tangent_space
Type: string   Default: pixel

<normal_map>
Description: filename of the normal map
Required: 0    Type: string    Default: __default__
<lighting>
Description: If false, dynamic lighting will be disabled
Required: 0    Type: bool    Default: 1
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<shininess>
Description: The specular exponent of a material
Required: 0    Type: double    Default: 0
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<double_sided>
Description: If true, the mesh that this material is applied to will be rendered as double sided
Required: 0    Type: bool    Default: 0
<pbr>
Description: Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
Required: 0    Type: n/a
<metal>
Description: PBR using the Metallic/Roughness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<roughness_map>
Description: Filename of the roughness map.
Required: 0    Type: string    Default:
<roughness>
Description: Material roughness in the range of [0,1], where 0 represents a smooth surface and 1 represents a rough surface. This is the inverse of a specular map in a PBR specular workflow.
Required: 0    Type: string    Default: 0.5
<metalness_map>
Description: Filename of the metalness map.
Required: 0    Type: string    Default:
<metalness>
Description: Material metalness in the range of [0,1], where 0 represents non-metal and 1 represents raw metal
Required: 0    Type: string    Default: 0.5
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<specular>
Description: PBR using the Specular/Glossiness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<specular_map>
Description: Filename of the specular map.
Required: 0    Type: string    Default:
<glossiness_map>
Description: Filename of the glossiness map.
Required: 0    Type: string    Default:
<glossiness>
Description: Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.
Required: 0    Type: string    Default: 0
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<projector>
Description: none
Required: 0    Type: n/a
Attributes
name:
Name of the projector
Type: string   Default: __default__

<texture>
Description: Texture name
Required: 1    Type: string    Default: __default__
<fov>
Description: Field of view
Required: 0    Type: double    Default: 0.785
<near_clip>
Description: Near clip distance
Required: 0    Type: double    Default: 0.1
<far_clip>
Description: far clip distance
Required: 0    Type: double    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<audio_sink>
Description: An audio sink.
Required: *    Type: n/a
<audio_source>
Description: An audio source.
Required: *    Type: n/a
<uri>
Description: URI of the audio media.
Required: 1    Type: string    Default: __default__
<pitch>
Description: Pitch for the audio media, in Hz
Required: 0    Type: double    Default: 1
<gain>
Description: Gain for the audio media, in dB.
Required: 0    Type: double    Default: 1
<contact>
Description: List of collision objects that will trigger audio playback.
Required: 0    Type: n/a
<collision>
Description: Name of child collision element that will trigger audio playback.
Required: +    Type: string    Default: __default__
<loop>
Description: True to make the audio source loop playback.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<battery>
Description: Description of a battery.
Required: *    Type: n/a
Attributes
name:
Unique name for the battery.
Type: string   Default: __default__

<voltage>
Description: Initial voltage in volts.
Required: 1    Type: double    Default: 0
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<joint>
Description: A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame.
Required: *    Type: n/a
Attributes
name:
A unique name for the joint within the scope of the model.
Type: string   Default: __default__
type:
The type of joint, which must be one of the following: (continuous) a hinge joint that rotates on a single axis with a continuous range of motion, (revolute) a hinge joint that rotates on a single axis with a fixed range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.
Type: string   Default: __default__

<parent>
Description: Name of the parent link or "world".
Required: 1    Type: string    Default: __default__
<child>
Description: Name of the child link. The value "world" may not be specified.
Required: 1    Type: string    Default: __default__
<gearbox_ratio>
Description: Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.
Required: 0    Type: double    Default: 1
<gearbox_reference_body>
Description: Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.
Required: 0    Type: string    Default: __default__
<thread_pitch>
Description: Parameter for screw joints.
Required: 0    Type: double    Default: 1
<axis>
Description: Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: specifies the limits of this joint
Required: 1    Type: n/a
<lower>
Description: Specifies the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: -1e+16
<upper>
Description: Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: 1e+16
<effort>
Description: A value for enforcing the maximum joint effort applied. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: A value for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation.
Required: 0    Type: double    Default: 1
<axis2>
Description: Parameters related to the second axis of rotation for revolute2 joints and universal joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: none
Required: 1    Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1
<physics>
Description: Parameters that are specific to a certain physics engine.
Required: 0    Type: n/a
<simbody>
Description: Simbody specific parameters
Required: 0    Type: n/a
<must_be_loop_joint>
Description: Force cut in the multibody graph at this joint.
Required: 0    Type: bool    Default: 0
<ode>
Description: ODE specific parameters
Required: 0    Type: n/a
<cfm_damping>
Description: If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active.
Required: 0    Type: bool    Default: 0
<implicit_spring_damper>
Description: If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4.
Required: 0    Type: bool    Default: 0
<fudge_factor>
Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.
Required: 0    Type: double    Default: 0
<cfm>
Description: Constraint force mixing for constrained directions
Required: 0    Type: double    Default: 0
<erp>
Description: Error reduction parameter for constrained directions
Required: 0    Type: double    Default: 0.2
<bounce>
Description: Bounciness of the limits
Required: 0    Type: double    Default: 0
<max_force>
Description: Maximum force or torque used to reach the desired velocity.
Required: 0    Type: double    Default: 0
<velocity>
Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.
Required: 0    Type: double    Default: 0
<limit>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Constraint force mixing parameter used by the joint stop
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter used by the joint stop
Required: 1    Type: double    Default: 0.2
<suspension>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Suspension constraint force mixing parameter
Required: 1    Type: double    Default: 0
<erp>
Description: Suspension error reduction parameter
Required: 1    Type: double    Default: 0.2
<provide_feedback>
Description: If provide feedback is set to true, physics engine will compute the constraint forces at this joint.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<gripper>
Description: none
Required: *    Type: n/a
Attributes
name:
no description
Type: string   Default: __default__

<grasp_check>
Description: none
Required: 0    Type: n/a
<detach_steps>
Description: none
Required: 0    Type: int    Default: 40
<attach_steps>
Description: none
Required: 0    Type: int    Default: 20
<min_contact_count>
Description: none
Required: 0    Type: unsigned int    Default: 2
<gripper_link>
Description: none
Required: +    Type: string    Default: __default__
<palm_link>
Description: none
Required: 1    Type: string    Default: __default__
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<deletions>
Description: A list of names of deleted entities/
Required: 0    Type: n/a
<name>
Description: The name of a deleted entity.
Required: +    Type: string    Default: __default__
<model>
Description: Model state
Required: *    Type: n/a
Attributes
name:
Name of the model
Type: string   Default: __default__

<joint>
Description: Joint angle
Required: *    Type: n/a
Attributes
name:
Name of the joint
Type: string   Default: __default__

<angle>
Description: Angle of an axis
Required: +    Type: double    Default: 0
Attributes
axis:
Index of the axis.
Type: unsigned int   Default: 0

<model>
Description: A nested model state element
Required: *    Type: n/a
Attributes
name:
Name of the model.
Type: string   Default: __default__

<scale>
Description: Scale for the 3 dimensions of the model.
Required: 0    Type: vector3    Default: 1 1 1
<frame>
Description: A frame of reference to which a pose is relative.
Required: *    Type: n/a
Attributes
name:
Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.
Type: string   Default:
attached_to:
Name of the link or frame to which this frame is attached. If a frame is specified, recursively following the attached_to attributes of the specified frames must lead to the name of a link, a model, or the world frame.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<link>
Description: Link state
Required: *    Type: n/a
Attributes
name:
Name of the link
Type: string   Default: __default__

<velocity>
Description: Velocity of the link. The x, y, z components of the pose correspond to the linear velocity of the link, and the roll, pitch, yaw components correspond to the angular velocity of the link
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
<acceleration>
Description: Acceleration of the link. The x, y, z components of the pose correspond to the linear acceleration of the link, and the roll, pitch, yaw components correspond to the angular acceleration of the link
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
<wrench>
Description: Force and torque applied to the link. The x, y, z components of the pose correspond to the force applied to the link, and the roll, pitch, yaw components correspond to the torque applied to the link
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
<collision>
Description: Collision state
Required: *    Type: n/a
Attributes
name:
Name of the collision
Type: string   Default: __default__

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<light>
Description: Light state
Required: *    Type: n/a
Attributes
name:
Name of the light
Type: string   Default: __default__

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<population>
Description: The population element defines how and where a set of models will be automatically populated in Gazebo.
Required: *    Type: n/a
Attributes
name:
A unique name for the population. This name must not match another population in the world.
Type: string   Default: __default__

<model_count>
Description: The number of models to place.
Required: 1    Type: int    Default: 1
<distribution>
Description: Specifies the type of object distribution and its optional parameters.
Required: 1    Type: n/a
<type>
Description: Define how the objects will be placed in the specified region. - random: Models placed at random. - uniform: Models approximately placed in a 2D grid pattern with control over the number of objects. - grid: Models evenly placed in a 2D grid pattern. The number of objects is not explicitly specified, it is based on the number of rows and columns of the grid. - linear-x: Models evently placed in a row along the global x-axis. - linear-y: Models evently placed in a row along the global y-axis. - linear-z: Models evently placed in a row along the global z-axis.
Required: 1    Type: string    Default: random
<rows>
Description: Number of rows in the grid.
Required: 0    Type: int    Default: 1
<cols>
Description: Number of columns in the grid.
Required: 0    Type: int    Default: 1
<step>
Description: Distance between elements of the grid.
Required: 0    Type: vector3    Default: 0.5 0.5 0
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<model>
Description: The model element defines a complete robot or any other physical object.
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another model in the world.
Type: string   Default: __default__
canonical_link:
The name of the model's canonical link, to which the model's implicit coordinate frame is attached. If unset or set to an empty string, the first link element listed as a child of this model is chosen as the canonical link.
Type: string   Default:

<static>
Description: If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If set to true, all links in the model will collide with each other (except those connected by a joint). Can be overridden by the link or collision element self_collide property. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<allow_auto_disable>
Description: Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints.
Required: 0    Type: bool    Default: 1
<include>
Description: Include resources from a URI. This can be used to nest models.
Required: *    Type: n/a
<uri>
Description: URI to a resource, such as a model
Required: 1    Type: string    Default: __default__
<name>
Description: Override the name of the included model.
Required: 0    Type: string    Default:
<static>
Description: Override the static value of the included model.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<model>
Description: A nested model element
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another nested model in the same level as this model.
Type: string   Default: __default__

<enable_wind>
Description: If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.
Required: 0    Type: bool    Default: 0
<frame>
Description: A frame of reference to which a pose is relative.
Required: *    Type: n/a
Attributes
name:
Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.
Type: string   Default:
attached_to:
Name of the link or frame to which this frame is attached. If a frame is specified, recursively following the attached_to attributes of the specified frames must lead to the name of a link, a model, or the world frame.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<link>
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.
Required: *    Type: n/a
Attributes
name:
A unique name for the link within the scope of the model.
Type: string   Default: __default__

<gravity>
Description: If true, the link is affected by gravity.
Required: 0    Type: bool    Default: 1
<enable_wind>
Description: If true, the link is affected by the wind.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If true, the link can collide with other links in the model. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<kinematic>
Description: If true, the link is kinematic only
Required: 0    Type: bool    Default: 0
<must_be_base_link>
Description: If true, the link will have 6DOF and be a direct child of world.
Required: 0    Type: bool    Default: 0
<velocity_decay>
Description: Exponential damping of the link's velocity.
Required: 0    Type: n/a
<linear>
Description: Linear damping
Required: 0    Type: double    Default: 0
<angular>
Description: Angular damping
Required: 0    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<inertial>
Description: The inertial properties of the link.
Required: 0    Type: n/a
<mass>
Description: The mass of the link.
Required: 0    Type: double    Default: 1
<inertia>
Description: The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.
Required: 0    Type: n/a
<ixx>
Description: none
Required: 1    Type: double    Default: 1
<ixy>
Description: none
Required: 1    Type: double    Default: 0
<ixz>
Description: none
Required: 1    Type: double    Default: 0
<iyy>
Description: none
Required: 1    Type: double    Default: 1
<iyz>
Description: none
Required: 1    Type: double    Default: 0
<izz>
Description: none
Required: 1    Type: double    Default: 1
<pose>
Description: This is the pose of the inertial reference frame, relative to the specified reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<collision>
Description: The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.
Required: *    Type: n/a
Attributes
name:
Unique name for the collision element within the scope of the parent link.
Type: string   Default: __default__

<laser_retro>
Description: intensity value returned by laser sensor.
Required: 0    Type: double    Default: 0
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.
Required: 0    Type: int    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<surface>
Description: The surface parameters
Required: 0    Type: n/a
<bounce>
Description: none
Required: 0    Type: n/a
<restitution_coefficient>
Description: Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.
Required: 0    Type: double    Default: 0
<threshold>
Description: Bounce capture velocity, below which effective coefficient of restitution is 0.
Required: 0    Type: double    Default: 100000
<friction>
Description: none
Required: 0    Type: n/a
<torsional>
Description: Parameters for torsional friction
Required: 0    Type: n/a
<coefficient>
Description: Torsional friction coefficient, unitless maximum ratio of tangential stress to normal stress.
Required: 0    Type: double    Default: 1
<use_patch_radius>
Description: If this flag is true, torsional friction is calculated using the "patch_radius" parameter. If this flag is set to false, "surface_radius" (R) and contact depth (d) are used to compute the patch radius as sqrt(R*d).
Required: 0    Type: bool    Default: 1
<patch_radius>
Description: Radius of contact patch surface.
Required: 0    Type: double    Default: 0
<surface_radius>
Description: Surface radius on the point of contact.
Required: 0    Type: double    Default: 0
<ode>
Description: Torsional friction parameters for ODE
Required: 0    Type: n/a
<slip>
Description: Force dependent slip for torsional friction, equivalent to inverse of viscous damping coefficient with units of rad/s/(Nm). A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<ode>
Description: ODE friction parameters
Required: 0    Type: n/a
<mu>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<mu2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the ODE Collide callback function will align the friction pyramid directions with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<slip1>
Description: Force dependent slip in first friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<slip2>
Description: Force dependent slip in second friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<bullet>
Description: none
Required: 0    Type: n/a
<friction>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<friction2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the friction pyramid directions will be aligned with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<rolling_friction>
Description: Coefficient of rolling friction
Required: 0    Type: double    Default: 1
<contact>
Description: none
Required: 0    Type: n/a
<collide_without_contact>
Description: Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.
Required: 0    Type: bool    Default: 0
<collide_without_contact_bitmask>
Description: Bitmask for collision filtering when collide_without_contact is on
Required: 0    Type: unsigned int    Default: 1
<collide_bitmask>
Description: Bitmask for collision filtering. This will override collide_without_contact. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<category_bitmask>
Description: Bitmask for category of collision filtering. Collision happens if ((category1 & collision2) | (category2 & collision1)) is not zero. If not specified, the category_bitmask should be interpreted as being the same as collide_bitmask. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<poissons_ratio>
Description: Poisson's ratio is the unitless ratio between transverse and axial strain. This value must lie between (-1, 0.5). Defaults to 0.3 for typical steel. Note typical silicone elastomers have Poisson's ratio near 0.49 ~ 0.50. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: 0.3
<elastic_modulus>
Description: Young's Modulus in SI derived unit Pascal. Defaults to -1. If value is less or equal to zero, contact using elastic modulus (with Poisson's Ratio) is disabled. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: -1
<ode>
Description: ODE contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<max_vel>
Description: maximum contact correction velocity truncation term.
Required: 0    Type: double    Default: 0.01
<min_depth>
Description: minimum allowable depth before contact correction impulse is applied
Required: 0    Type: double    Default: 0
<bullet>
Description: Bullet contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: bool    Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: double    Default: -0.01
<soft_contact>
Description: none
Required: 0    Type: n/a
<dart>
Description: soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf
Required: 0    Type: n/a
<bone_attachment>
Description: This is variable k_v in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<stiffness>
Description: This is variable k_e in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<damping>
Description: Viscous damping of point velocity in body frame. Its unit is N/m/s.
Required: 1    Type: double    Default: 10
<flesh_mass_fraction>
Description: Fraction of mass to be distributed among deformable nodes.
Required: 1    Type: double    Default: 0.05
<visual>
Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.
Required: *    Type: n/a
Attributes
name:
Unique name for the visual element within the scope of the parent link.
Type: string   Default: __default__

<cast_shadows>
Description: If true the visual will cast shadows.
Required: 0    Type: bool    Default: 1
<laser_retro>
Description: will be implemented in the future release.
Required: 0    Type: double    Default: 0
<transparency>
Description: The amount of transparency( 0=opaque, 1 = fully transparent)
Required: 0    Type: double    Default: 0
<visibility_flags>
Description: Visibility flags of a visual. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<meta>
Description: Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user.
Required: 0    Type: n/a
<layer>
Description: The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.
Required: 0    Type: int    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<material>
Description: The material of the visual element.
Required: 0    Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0    Type: n/a
<uri>
Description: URI of the material script file
Required: +    Type: string    Default: __default__
<name>
Description: Name of the script within the script file
Required: 1    Type: string    Default: __default__
<shader>
Description: none
Required: 0    Type: n/a
Attributes
type:
vertex, pixel, normal_map_object_space, normal_map_tangent_space
Type: string   Default: pixel

<normal_map>
Description: filename of the normal map
Required: 0    Type: string    Default: __default__
<lighting>
Description: If false, dynamic lighting will be disabled
Required: 0    Type: bool    Default: 1
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<shininess>
Description: The specular exponent of a material
Required: 0    Type: double    Default: 0
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<double_sided>
Description: If true, the mesh that this material is applied to will be rendered as double sided
Required: 0    Type: bool    Default: 0
<pbr>
Description: Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
Required: 0    Type: n/a
<metal>
Description: PBR using the Metallic/Roughness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<roughness_map>
Description: Filename of the roughness map.
Required: 0    Type: string    Default:
<roughness>
Description: Material roughness in the range of [0,1], where 0 represents a smooth surface and 1 represents a rough surface. This is the inverse of a specular map in a PBR specular workflow.
Required: 0    Type: string    Default: 0.5
<metalness_map>
Description: Filename of the metalness map.
Required: 0    Type: string    Default:
<metalness>
Description: Material metalness in the range of [0,1], where 0 represents non-metal and 1 represents raw metal
Required: 0    Type: string    Default: 0.5
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<specular>
Description: PBR using the Specular/Glossiness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<specular_map>
Description: Filename of the specular map.
Required: 0    Type: string    Default:
<glossiness_map>
Description: Filename of the glossiness map.
Required: 0    Type: string    Default:
<glossiness>
Description: Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.
Required: 0    Type: string    Default: 0
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<projector>
Description: none
Required: 0    Type: n/a
Attributes
name:
Name of the projector
Type: string   Default: __default__

<texture>
Description: Texture name
Required: 1    Type: string    Default: __default__
<fov>
Description: Field of view
Required: 0    Type: double    Default: 0.785
<near_clip>
Description: Near clip distance
Required: 0    Type: double    Default: 0.1
<far_clip>
Description: far clip distance
Required: 0    Type: double    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<audio_sink>
Description: An audio sink.
Required: *    Type: n/a
<audio_source>
Description: An audio source.
Required: *    Type: n/a
<uri>
Description: URI of the audio media.
Required: 1    Type: string    Default: __default__
<pitch>
Description: Pitch for the audio media, in Hz
Required: 0    Type: double    Default: 1
<gain>
Description: Gain for the audio media, in dB.
Required: 0    Type: double    Default: 1
<contact>
Description: List of collision objects that will trigger audio playback.
Required: 0    Type: n/a
<collision>
Description: Name of child collision element that will trigger audio playback.
Required: +    Type: string    Default: __default__
<loop>
Description: True to make the audio source loop playback.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<battery>
Description: Description of a battery.
Required: *    Type: n/a
Attributes
name:
Unique name for the battery.
Type: string   Default: __default__

<voltage>
Description: Initial voltage in volts.
Required: 1    Type: double    Default: 0
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<joint>
Description: A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame.
Required: *    Type: n/a
Attributes
name:
A unique name for the joint within the scope of the model.
Type: string   Default: __default__
type:
The type of joint, which must be one of the following: (continuous) a hinge joint that rotates on a single axis with a continuous range of motion, (revolute) a hinge joint that rotates on a single axis with a fixed range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.
Type: string   Default: __default__

<parent>
Description: Name of the parent link or "world".
Required: 1    Type: string    Default: __default__
<child>
Description: Name of the child link. The value "world" may not be specified.
Required: 1    Type: string    Default: __default__
<gearbox_ratio>
Description: Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.
Required: 0    Type: double    Default: 1
<gearbox_reference_body>
Description: Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.
Required: 0    Type: string    Default: __default__
<thread_pitch>
Description: Parameter for screw joints.
Required: 0    Type: double    Default: 1
<axis>
Description: Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: specifies the limits of this joint
Required: 1    Type: n/a
<lower>
Description: Specifies the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: -1e+16
<upper>
Description: Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: 1e+16
<effort>
Description: A value for enforcing the maximum joint effort applied. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: A value for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation.
Required: 0    Type: double    Default: 1
<axis2>
Description: Parameters related to the second axis of rotation for revolute2 joints and universal joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: none
Required: 1    Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1
<physics>
Description: Parameters that are specific to a certain physics engine.
Required: 0    Type: n/a
<simbody>
Description: Simbody specific parameters
Required: 0    Type: n/a
<must_be_loop_joint>
Description: Force cut in the multibody graph at this joint.
Required: 0    Type: bool    Default: 0
<ode>
Description: ODE specific parameters
Required: 0    Type: n/a
<cfm_damping>
Description: If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active.
Required: 0    Type: bool    Default: 0
<implicit_spring_damper>
Description: If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4.
Required: 0    Type: bool    Default: 0
<fudge_factor>
Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.
Required: 0    Type: double    Default: 0
<cfm>
Description: Constraint force mixing for constrained directions
Required: 0    Type: double    Default: 0
<erp>
Description: Error reduction parameter for constrained directions
Required: 0    Type: double    Default: 0.2
<bounce>
Description: Bounciness of the limits
Required: 0    Type: double    Default: 0
<max_force>
Description: Maximum force or torque used to reach the desired velocity.
Required: 0    Type: double    Default: 0
<velocity>
Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.
Required: 0    Type: double    Default: 0
<limit>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Constraint force mixing parameter used by the joint stop
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter used by the joint stop
Required: 1    Type: double    Default: 0.2
<suspension>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Suspension constraint force mixing parameter
Required: 1    Type: double    Default: 0
<erp>
Description: Suspension error reduction parameter
Required: 1    Type: double    Default: 0.2
<provide_feedback>
Description: If provide feedback is set to true, physics engine will compute the constraint forces at this joint.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<gripper>
Description: none
Required: *    Type: n/a
Attributes
name:
no description
Type: string   Default: __default__

<grasp_check>
Description: none
Required: 0    Type: n/a
<detach_steps>
Description: none
Required: 0    Type: int    Default: 40
<attach_steps>
Description: none
Required: 0    Type: int    Default: 20
<min_contact_count>
Description: none
Required: 0    Type: unsigned int    Default: 2
<gripper_link>
Description: none
Required: +    Type: string    Default: __default__
<palm_link>
Description: none
Required: 1    Type: string    Default: __default__
<model>
Description: The model element defines a complete robot or any other physical object.
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another model in the world.
Type: string   Default: __default__
canonical_link:
The name of the model's canonical link, to which the model's implicit coordinate frame is attached. If unset or set to an empty string, the first link element listed as a child of this model is chosen as the canonical link.
Type: string   Default:

<static>
Description: If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If set to true, all links in the model will collide with each other (except those connected by a joint). Can be overridden by the link or collision element self_collide property. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<allow_auto_disable>
Description: Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints.
Required: 0    Type: bool    Default: 1
<include>
Description: Include resources from a URI. This can be used to nest models.
Required: *    Type: n/a
<uri>
Description: URI to a resource, such as a model
Required: 1    Type: string    Default: __default__
<name>
Description: Override the name of the included model.
Required: 0    Type: string    Default:
<static>
Description: Override the static value of the included model.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<model>
Description: A nested model element
Required: *    Type: n/a
Attributes
name:
A unique name for the model. This name must not match another nested model in the same level as this model.
Type: string   Default: __default__

<enable_wind>
Description: If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.
Required: 0    Type: bool    Default: 0
<frame>
Description: A frame of reference to which a pose is relative.
Required: *    Type: n/a
Attributes
name:
Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.
Type: string   Default:
attached_to:
Name of the link or frame to which this frame is attached. If a frame is specified, recursively following the attached_to attributes of the specified frames must lead to the name of a link, a model, or the world frame.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<link>
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.
Required: *    Type: n/a
Attributes
name:
A unique name for the link within the scope of the model.
Type: string   Default: __default__

<gravity>
Description: If true, the link is affected by gravity.
Required: 0    Type: bool    Default: 1
<enable_wind>
Description: If true, the link is affected by the wind.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If true, the link can collide with other links in the model. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<kinematic>
Description: If true, the link is kinematic only
Required: 0    Type: bool    Default: 0
<must_be_base_link>
Description: If true, the link will have 6DOF and be a direct child of world.
Required: 0    Type: bool    Default: 0
<velocity_decay>
Description: Exponential damping of the link's velocity.
Required: 0    Type: n/a
<linear>
Description: Linear damping
Required: 0    Type: double    Default: 0
<angular>
Description: Angular damping
Required: 0    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<inertial>
Description: The inertial properties of the link.
Required: 0    Type: n/a
<mass>
Description: The mass of the link.
Required: 0    Type: double    Default: 1
<inertia>
Description: The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.
Required: 0    Type: n/a
<ixx>
Description: none
Required: 1    Type: double    Default: 1
<ixy>
Description: none
Required: 1    Type: double    Default: 0
<ixz>
Description: none
Required: 1    Type: double    Default: 0
<iyy>
Description: none
Required: 1    Type: double    Default: 1
<iyz>
Description: none
Required: 1    Type: double    Default: 0
<izz>
Description: none
Required: 1    Type: double    Default: 1
<pose>
Description: This is the pose of the inertial reference frame, relative to the specified reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<collision>
Description: The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.
Required: *    Type: n/a
Attributes
name:
Unique name for the collision element within the scope of the parent link.
Type: string   Default: __default__

<laser_retro>
Description: intensity value returned by laser sensor.
Required: 0    Type: double    Default: 0
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.
Required: 0    Type: int    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<surface>
Description: The surface parameters
Required: 0    Type: n/a
<bounce>
Description: none
Required: 0    Type: n/a
<restitution_coefficient>
Description: Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.
Required: 0    Type: double    Default: 0
<threshold>
Description: Bounce capture velocity, below which effective coefficient of restitution is 0.
Required: 0    Type: double    Default: 100000
<friction>
Description: none
Required: 0    Type: n/a
<torsional>
Description: Parameters for torsional friction
Required: 0    Type: n/a
<coefficient>
Description: Torsional friction coefficient, unitless maximum ratio of tangential stress to normal stress.
Required: 0    Type: double    Default: 1
<use_patch_radius>
Description: If this flag is true, torsional friction is calculated using the "patch_radius" parameter. If this flag is set to false, "surface_radius" (R) and contact depth (d) are used to compute the patch radius as sqrt(R*d).
Required: 0    Type: bool    Default: 1
<patch_radius>
Description: Radius of contact patch surface.
Required: 0    Type: double    Default: 0
<surface_radius>
Description: Surface radius on the point of contact.
Required: 0    Type: double    Default: 0
<ode>
Description: Torsional friction parameters for ODE
Required: 0    Type: n/a
<slip>
Description: Force dependent slip for torsional friction, equivalent to inverse of viscous damping coefficient with units of rad/s/(Nm). A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<ode>
Description: ODE friction parameters
Required: 0    Type: n/a
<mu>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<mu2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the ODE Collide callback function will align the friction pyramid directions with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<slip1>
Description: Force dependent slip in first friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<slip2>
Description: Force dependent slip in second friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<bullet>
Description: none
Required: 0    Type: n/a
<friction>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<friction2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the friction pyramid directions will be aligned with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<rolling_friction>
Description: Coefficient of rolling friction
Required: 0    Type: double    Default: 1
<contact>
Description: none
Required: 0    Type: n/a
<collide_without_contact>
Description: Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.
Required: 0    Type: bool    Default: 0
<collide_without_contact_bitmask>
Description: Bitmask for collision filtering when collide_without_contact is on
Required: 0    Type: unsigned int    Default: 1
<collide_bitmask>
Description: Bitmask for collision filtering. This will override collide_without_contact. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<category_bitmask>
Description: Bitmask for category of collision filtering. Collision happens if ((category1 & collision2) | (category2 & collision1)) is not zero. If not specified, the category_bitmask should be interpreted as being the same as collide_bitmask. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<poissons_ratio>
Description: Poisson's ratio is the unitless ratio between transverse and axial strain. This value must lie between (-1, 0.5). Defaults to 0.3 for typical steel. Note typical silicone elastomers have Poisson's ratio near 0.49 ~ 0.50. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: 0.3
<elastic_modulus>
Description: Young's Modulus in SI derived unit Pascal. Defaults to -1. If value is less or equal to zero, contact using elastic modulus (with Poisson's Ratio) is disabled. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: -1
<ode>
Description: ODE contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<max_vel>
Description: maximum contact correction velocity truncation term.
Required: 0    Type: double    Default: 0.01
<min_depth>
Description: minimum allowable depth before contact correction impulse is applied
Required: 0    Type: double    Default: 0
<bullet>
Description: Bullet contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: bool    Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: double    Default: -0.01
<soft_contact>
Description: none
Required: 0    Type: n/a
<dart>
Description: soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf
Required: 0    Type: n/a
<bone_attachment>
Description: This is variable k_v in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<stiffness>
Description: This is variable k_e in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<damping>
Description: Viscous damping of point velocity in body frame. Its unit is N/m/s.
Required: 1    Type: double    Default: 10
<flesh_mass_fraction>
Description: Fraction of mass to be distributed among deformable nodes.
Required: 1    Type: double    Default: 0.05
<visual>
Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.
Required: *    Type: n/a
Attributes
name:
Unique name for the visual element within the scope of the parent link.
Type: string   Default: __default__

<cast_shadows>
Description: If true the visual will cast shadows.
Required: 0    Type: bool    Default: 1
<laser_retro>
Description: will be implemented in the future release.
Required: 0    Type: double    Default: 0
<transparency>
Description: The amount of transparency( 0=opaque, 1 = fully transparent)
Required: 0    Type: double    Default: 0
<visibility_flags>
Description: Visibility flags of a visual. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<meta>
Description: Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user.
Required: 0    Type: n/a
<layer>
Description: The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.
Required: 0    Type: int    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<material>
Description: The material of the visual element.
Required: 0    Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0    Type: n/a
<uri>
Description: URI of the material script file
Required: +    Type: string    Default: __default__
<name>
Description: Name of the script within the script file
Required: 1    Type: string    Default: __default__
<shader>
Description: none
Required: 0    Type: n/a
Attributes
type:
vertex, pixel, normal_map_object_space, normal_map_tangent_space
Type: string   Default: pixel

<normal_map>
Description: filename of the normal map
Required: 0    Type: string    Default: __default__
<lighting>
Description: If false, dynamic lighting will be disabled
Required: 0    Type: bool    Default: 1
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<shininess>
Description: The specular exponent of a material
Required: 0    Type: double    Default: 0
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<double_sided>
Description: If true, the mesh that this material is applied to will be rendered as double sided
Required: 0    Type: bool    Default: 0
<pbr>
Description: Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
Required: 0    Type: n/a
<metal>
Description: PBR using the Metallic/Roughness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<roughness_map>
Description: Filename of the roughness map.
Required: 0    Type: string    Default:
<roughness>
Description: Material roughness in the range of [0,1], where 0 represents a smooth surface and 1 represents a rough surface. This is the inverse of a specular map in a PBR specular workflow.
Required: 0    Type: string    Default: 0.5
<metalness_map>
Description: Filename of the metalness map.
Required: 0    Type: string    Default:
<metalness>
Description: Material metalness in the range of [0,1], where 0 represents non-metal and 1 represents raw metal
Required: 0    Type: string    Default: 0.5
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<specular>
Description: PBR using the Specular/Glossiness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<specular_map>
Description: Filename of the specular map.
Required: 0    Type: string    Default:
<glossiness_map>
Description: Filename of the glossiness map.
Required: 0    Type: string    Default:
<glossiness>
Description: Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.
Required: 0    Type: string    Default: 0
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<projector>
Description: none
Required: 0    Type: n/a
Attributes
name:
Name of the projector
Type: string   Default: __default__

<texture>
Description: Texture name
Required: 1    Type: string    Default: __default__
<fov>
Description: Field of view
Required: 0    Type: double    Default: 0.785
<near_clip>
Description: Near clip distance
Required: 0    Type: double    Default: 0.1
<far_clip>
Description: far clip distance
Required: 0    Type: double    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<audio_sink>
Description: An audio sink.
Required: *    Type: n/a
<audio_source>
Description: An audio source.
Required: *    Type: n/a
<uri>
Description: URI of the audio media.
Required: 1    Type: string    Default: __default__
<pitch>
Description: Pitch for the audio media, in Hz
Required: 0    Type: double    Default: 1
<gain>
Description: Gain for the audio media, in dB.
Required: 0    Type: double    Default: 1
<contact>
Description: List of collision objects that will trigger audio playback.
Required: 0    Type: n/a
<collision>
Description: Name of child collision element that will trigger audio playback.
Required: +    Type: string    Default: __default__
<loop>
Description: True to make the audio source loop playback.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<battery>
Description: Description of a battery.
Required: *    Type: n/a
Attributes
name:
Unique name for the battery.
Type: string   Default: __default__

<voltage>
Description: Initial voltage in volts.
Required: 1    Type: double    Default: 0
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<joint>
Description: A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame.
Required: *    Type: n/a
Attributes
name:
A unique name for the joint within the scope of the model.
Type: string   Default: __default__
type:
The type of joint, which must be one of the following: (continuous) a hinge joint that rotates on a single axis with a continuous range of motion, (revolute) a hinge joint that rotates on a single axis with a fixed range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.
Type: string   Default: __default__

<parent>
Description: Name of the parent link or "world".
Required: 1    Type: string    Default: __default__
<child>
Description: Name of the child link. The value "world" may not be specified.
Required: 1    Type: string    Default: __default__
<gearbox_ratio>
Description: Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.
Required: 0    Type: double    Default: 1
<gearbox_reference_body>
Description: Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.
Required: 0    Type: string    Default: __default__
<thread_pitch>
Description: Parameter for screw joints.
Required: 0    Type: double    Default: 1
<axis>
Description: Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: specifies the limits of this joint
Required: 1    Type: n/a
<lower>
Description: Specifies the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: -1e+16
<upper>
Description: Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: 1e+16
<effort>
Description: A value for enforcing the maximum joint effort applied. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: A value for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation.
Required: 0    Type: double    Default: 1
<axis2>
Description: Parameters related to the second axis of rotation for revolute2 joints and universal joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: none
Required: 1    Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1
<physics>
Description: Parameters that are specific to a certain physics engine.
Required: 0    Type: n/a
<simbody>
Description: Simbody specific parameters
Required: 0    Type: n/a
<must_be_loop_joint>
Description: Force cut in the multibody graph at this joint.
Required: 0    Type: bool    Default: 0
<ode>
Description: ODE specific parameters
Required: 0    Type: n/a
<cfm_damping>
Description: If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active.
Required: 0    Type: bool    Default: 0
<implicit_spring_damper>
Description: If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4.
Required: 0    Type: bool    Default: 0
<fudge_factor>
Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.
Required: 0    Type: double    Default: 0
<cfm>
Description: Constraint force mixing for constrained directions
Required: 0    Type: double    Default: 0
<erp>
Description: Error reduction parameter for constrained directions
Required: 0    Type: double    Default: 0.2
<bounce>
Description: Bounciness of the limits
Required: 0    Type: double    Default: 0
<max_force>
Description: Maximum force or torque used to reach the desired velocity.
Required: 0    Type: double    Default: 0
<velocity>
Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.
Required: 0    Type: double    Default: 0
<limit>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Constraint force mixing parameter used by the joint stop
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter used by the joint stop
Required: 1    Type: double    Default: 0.2
<suspension>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Suspension constraint force mixing parameter
Required: 1    Type: double    Default: 0
<erp>
Description: Suspension error reduction parameter
Required: 1    Type: double    Default: 0.2
<provide_feedback>
Description: If provide feedback is set to true, physics engine will compute the constraint forces at this joint.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<gripper>
Description: none
Required: *    Type: n/a
Attributes
name:
no description
Type: string   Default: __default__

<grasp_check>
Description: none
Required: 0    Type: n/a
<detach_steps>
Description: none
Required: 0    Type: int    Default: 40
<attach_steps>
Description: none
Required: 0    Type: int    Default: 20
<min_contact_count>
Description: none
Required: 0    Type: unsigned int    Default: 2
<gripper_link>
Description: none
Required: +    Type: string    Default: __default__
<palm_link>
Description: none
Required: 1    Type: string    Default: __default__
<actor>
Description: A special kind of model which can have a scripted motion. This includes both global waypoint type animations and skeleton animations.
Required: *    Type: n/a
Attributes
name:
A unique name for the actor.
Type: string   Default: __default__

<skin>
Description: Skin file which defines a visual and the underlying skeleton which moves it.
Required: 0    Type: n/a
<filename>
Description: Path to skin file, accepted formats: COLLADA, BVH.
Required: 1    Type: string    Default: __default__
<scale>
Description: Scale the skin's size.
Required: 0    Type: double    Default: 1
<animation>
Description: Animation file defines an animation for the skeleton in the skin. The skeleton must be compatible with the skin skeleton.
Required: *    Type: n/a
Attributes
name:
Unique name for animation.
Type: string   Default: __default__

<filename>
Description: Path to animation file. Accepted formats: COLLADA, BVH.
Required: 1    Type: string    Default: __default__
<scale>
Description: Scale for the animation skeleton.
Required: 0    Type: double    Default: 1
<interpolate_x>
Description: Set to true so the animation is interpolated on X.
Required: 0    Type: bool    Default: 0
<script>
Description: Adds scripted trajectories to the actor.
Required: 1    Type: n/a
<loop>
Description: Set this to true for the script to be repeated in a loop. For a fluid continuous motion, make sure the last waypoint matches the first one.
Required: 0    Type: bool    Default: 1
<delay_start>
Description: This is the time to wait before starting the script. If running in a loop, this time will be waited before starting each cycle.
Required: 0    Type: double    Default: 0
<auto_start>
Description: Set to true if the animation should start as soon as the simulation starts playing. It is useful to set this to false if the animation should only start playing only when triggered by a plugin, for example.
Required: 0    Type: bool    Default: 1
<trajectory>
Description: The trajectory contains a series of keyframes to be followed.
Required: *    Type: n/a
Attributes
id:
Unique id for a trajectory.
Type: int   Default: 0
type:
If it matches the type of an animation, they will be played at the same time.
Type: string   Default: __default__
tension:
The tension of the trajectory spline. The default value of zero equates to a Catmull-Rom spline, which may also cause the animation to overshoot keyframes. A value of one will cause the animation to stick to the keyframes.
Type: double   Default: 0

<waypoint>
Description: Each point in the trajectory.
Required: *    Type: n/a
<time>
Description: The time in seconds, counted from the beginning of the script, when the pose should be reached.
Required: 1    Type: double    Default: 0
<pose>
Description: The pose which should be reached at the given time.
Required: 1    Type: pose    Default: 0 0 0 0 -0 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<link>
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.
Required: *    Type: n/a
Attributes
name:
A unique name for the link within the scope of the model.
Type: string   Default: __default__

<gravity>
Description: If true, the link is affected by gravity.
Required: 0    Type: bool    Default: 1
<enable_wind>
Description: If true, the link is affected by the wind.
Required: 0    Type: bool    Default: 0
<self_collide>
Description: If true, the link can collide with other links in the model. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.
Required: 0    Type: bool    Default: 0
<kinematic>
Description: If true, the link is kinematic only
Required: 0    Type: bool    Default: 0
<must_be_base_link>
Description: If true, the link will have 6DOF and be a direct child of world.
Required: 0    Type: bool    Default: 0
<velocity_decay>
Description: Exponential damping of the link's velocity.
Required: 0    Type: n/a
<linear>
Description: Linear damping
Required: 0    Type: double    Default: 0
<angular>
Description: Angular damping
Required: 0    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<inertial>
Description: The inertial properties of the link.
Required: 0    Type: n/a
<mass>
Description: The mass of the link.
Required: 0    Type: double    Default: 1
<inertia>
Description: The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.
Required: 0    Type: n/a
<ixx>
Description: none
Required: 1    Type: double    Default: 1
<ixy>
Description: none
Required: 1    Type: double    Default: 0
<ixz>
Description: none
Required: 1    Type: double    Default: 0
<iyy>
Description: none
Required: 1    Type: double    Default: 1
<iyz>
Description: none
Required: 1    Type: double    Default: 0
<izz>
Description: none
Required: 1    Type: double    Default: 1
<pose>
Description: This is the pose of the inertial reference frame, relative to the specified reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<collision>
Description: The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.
Required: *    Type: n/a
Attributes
name:
Unique name for the collision element within the scope of the parent link.
Type: string   Default: __default__

<laser_retro>
Description: intensity value returned by laser sensor.
Required: 0    Type: double    Default: 0
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.
Required: 0    Type: int    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<surface>
Description: The surface parameters
Required: 0    Type: n/a
<bounce>
Description: none
Required: 0    Type: n/a
<restitution_coefficient>
Description: Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.
Required: 0    Type: double    Default: 0
<threshold>
Description: Bounce capture velocity, below which effective coefficient of restitution is 0.
Required: 0    Type: double    Default: 100000
<friction>
Description: none
Required: 0    Type: n/a
<torsional>
Description: Parameters for torsional friction
Required: 0    Type: n/a
<coefficient>
Description: Torsional friction coefficient, unitless maximum ratio of tangential stress to normal stress.
Required: 0    Type: double    Default: 1
<use_patch_radius>
Description: If this flag is true, torsional friction is calculated using the "patch_radius" parameter. If this flag is set to false, "surface_radius" (R) and contact depth (d) are used to compute the patch radius as sqrt(R*d).
Required: 0    Type: bool    Default: 1
<patch_radius>
Description: Radius of contact patch surface.
Required: 0    Type: double    Default: 0
<surface_radius>
Description: Surface radius on the point of contact.
Required: 0    Type: double    Default: 0
<ode>
Description: Torsional friction parameters for ODE
Required: 0    Type: n/a
<slip>
Description: Force dependent slip for torsional friction, equivalent to inverse of viscous damping coefficient with units of rad/s/(Nm). A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<ode>
Description: ODE friction parameters
Required: 0    Type: n/a
<mu>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<mu2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the ODE Collide callback function will align the friction pyramid directions with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<slip1>
Description: Force dependent slip in first friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<slip2>
Description: Force dependent slip in second friction pyramid direction, equivalent to inverse of viscous damping coefficient with units of m/s/N. A slip value of 0 is infinitely viscous.
Required: 0    Type: double    Default: 0
<bullet>
Description: none
Required: 0    Type: n/a
<friction>
Description: Coefficient of friction in first friction pyramid direction, the unitless maximum ratio of force in first friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<friction2>
Description: Coefficient of friction in second friction pyramid direction, the unitless maximum ratio of force in second friction pyramid direction to normal force.
Required: 0    Type: double    Default: 1
<fdir1>
Description: Unit vector specifying first friction pyramid direction in collision-fixed reference frame. If the friction pyramid model is in use, and this value is set to a unit vector for one of the colliding surfaces, the friction pyramid directions will be aligned with a reference frame fixed to that collision surface. If both surfaces have this value set to a vector of zeros, the friction pyramid directions will be aligned with the world frame. If this value is set for both surfaces, the behavior is undefined.
Required: 0    Type: vector3    Default: 0 0 0
<rolling_friction>
Description: Coefficient of rolling friction
Required: 0    Type: double    Default: 1
<contact>
Description: none
Required: 0    Type: n/a
<collide_without_contact>
Description: Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.
Required: 0    Type: bool    Default: 0
<collide_without_contact_bitmask>
Description: Bitmask for collision filtering when collide_without_contact is on
Required: 0    Type: unsigned int    Default: 1
<collide_bitmask>
Description: Bitmask for collision filtering. This will override collide_without_contact. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<category_bitmask>
Description: Bitmask for category of collision filtering. Collision happens if ((category1 & collision2) | (category2 & collision1)) is not zero. If not specified, the category_bitmask should be interpreted as being the same as collide_bitmask. Parsed as 16-bit unsigned integer.
Required: 0    Type: unsigned int    Default: 65535
<poissons_ratio>
Description: Poisson's ratio is the unitless ratio between transverse and axial strain. This value must lie between (-1, 0.5). Defaults to 0.3 for typical steel. Note typical silicone elastomers have Poisson's ratio near 0.49 ~ 0.50. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: 0.3
<elastic_modulus>
Description: Young's Modulus in SI derived unit Pascal. Defaults to -1. If value is less or equal to zero, contact using elastic modulus (with Poisson's Ratio) is disabled. For reference, approximate values for Material:(Young's Modulus, Poisson's Ratio) for some of the typical materials are: Plastic: (1e8 ~ 3e9 Pa, 0.35 ~ 0.41), Wood: (4e9 ~ 1e10 Pa, 0.22 ~ 0.50), Aluminum: (7e10 Pa, 0.32 ~ 0.35), Steel: (2e11 Pa, 0.26 ~ 0.31).
Required: 0    Type: double    Default: -1
<ode>
Description: ODE contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<max_vel>
Description: maximum contact correction velocity truncation term.
Required: 0    Type: double    Default: 0.01
<min_depth>
Description: minimum allowable depth before contact correction impulse is applied
Required: 0    Type: double    Default: 0
<bullet>
Description: Bullet contact parameters
Required: 0    Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0    Type: double    Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0    Type: double    Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0    Type: double    Default: 1
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: bool    Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1    Type: double    Default: -0.01
<soft_contact>
Description: none
Required: 0    Type: n/a
<dart>
Description: soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf
Required: 0    Type: n/a
<bone_attachment>
Description: This is variable k_v in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<stiffness>
Description: This is variable k_e in the soft contacts paper. Its unit is N/m.
Required: 1    Type: double    Default: 100
<damping>
Description: Viscous damping of point velocity in body frame. Its unit is N/m/s.
Required: 1    Type: double    Default: 10
<flesh_mass_fraction>
Description: Fraction of mass to be distributed among deformable nodes.
Required: 1    Type: double    Default: 0.05
<visual>
Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.
Required: *    Type: n/a
Attributes
name:
Unique name for the visual element within the scope of the parent link.
Type: string   Default: __default__

<cast_shadows>
Description: If true the visual will cast shadows.
Required: 0    Type: bool    Default: 1
<laser_retro>
Description: will be implemented in the future release.
Required: 0    Type: double    Default: 0
<transparency>
Description: The amount of transparency( 0=opaque, 1 = fully transparent)
Required: 0    Type: double    Default: 0
<visibility_flags>
Description: Visibility flags of a visual. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<meta>
Description: Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user.
Required: 0    Type: n/a
<layer>
Description: The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.
Required: 0    Type: int    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<material>
Description: The material of the visual element.
Required: 0    Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0    Type: n/a
<uri>
Description: URI of the material script file
Required: +    Type: string    Default: __default__
<name>
Description: Name of the script within the script file
Required: 1    Type: string    Default: __default__
<shader>
Description: none
Required: 0    Type: n/a
Attributes
type:
vertex, pixel, normal_map_object_space, normal_map_tangent_space
Type: string   Default: pixel

<normal_map>
Description: filename of the normal map
Required: 0    Type: string    Default: __default__
<lighting>
Description: If false, dynamic lighting will be disabled
Required: 0    Type: bool    Default: 1
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<shininess>
Description: The specular exponent of a material
Required: 0    Type: double    Default: 0
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0    Type: color    Default: 0 0 0 1
<double_sided>
Description: If true, the mesh that this material is applied to will be rendered as double sided
Required: 0    Type: bool    Default: 0
<pbr>
Description: Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
Required: 0    Type: n/a
<metal>
Description: PBR using the Metallic/Roughness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<roughness_map>
Description: Filename of the roughness map.
Required: 0    Type: string    Default:
<roughness>
Description: Material roughness in the range of [0,1], where 0 represents a smooth surface and 1 represents a rough surface. This is the inverse of a specular map in a PBR specular workflow.
Required: 0    Type: string    Default: 0.5
<metalness_map>
Description: Filename of the metalness map.
Required: 0    Type: string    Default:
<metalness>
Description: Material metalness in the range of [0,1], where 0 represents non-metal and 1 represents raw metal
Required: 0    Type: string    Default: 0.5
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<specular>
Description: PBR using the Specular/Glossiness workflow.
Required: 0    Type: n/a
<albedo_map>
Description: Filename of the diffuse/albedo map.
Required: 0    Type: string    Default:
<specular_map>
Description: Filename of the specular map.
Required: 0    Type: string    Default:
<glossiness_map>
Description: Filename of the glossiness map.
Required: 0    Type: string    Default:
<glossiness>
Description: Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.
Required: 0    Type: string    Default: 0
<environment_map>
Description: Filename of the environment / reflection map, typically in the form of a cubemap
Required: 0    Type: string    Default:
<ambient_occlusion_map>
Description: Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.
Required: 0    Type: string    Default:
<normal_map>
Description: Filename of the normal map. The normals can be in the object space or tangent space as specified in the 'type' attribute
Required: 0    Type: string    Default:
Attributes
type:
The space that the normals are in. Values are: 'object' or 'tangent'
Type: string   Default: tangent

<emissive_map>
Description: Filename of the emissive map.
Required: 0    Type: string    Default:
<light_map>
Description: Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map
Required: 0    Type: string    Default:
Attributes
uv_set:
Index of the texture coordinate set to use.
Type: unsigned int   Default: 0

<geometry>
Description: The shape of the visual or collision object.
Required: 1    Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0    Type: n/a
<box>
Description: Box shape
Required: 0    Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1    Type: vector3    Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0    Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1    Type: double    Default: 1
<length>
Description: Length of the cylinder
Required: 1    Type: double    Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1    Type: string    Default: __default__
<size>
Description: The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM.
Required: 0    Type: vector3    Default: 1 1 1
<pos>
Description: A position offset.
Required: 0    Type: vector3    Default: 0 0 0
<texture>
Description: The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures.
Required: *    Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1    Type: double    Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1    Type: string    Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1    Type: string    Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *    Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1    Type: double    Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1    Type: double    Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0    Type: bool    Default: 0
<sampling>
Description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
Required: 0    Type: unsigned int    Default: 2
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0    Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1    Type: string    Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1    Type: double    Default: 1
<threshold>
Description: Grayscale threshold
Required: 1    Type: int    Default: 200
<height>
Description: Height of the extruded boxes
Required: 1    Type: double    Default: 1
<granularity>
Description: The amount of error in the model
Required: 1    Type: int    Default: 1
<mesh>
Description: Mesh shape
Required: 0    Type: n/a
<uri>
Description: Mesh uri
Required: 1    Type: string    Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0    Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1    Type: string    Default: __default__
<center>
Description: Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.
Required: 0    Type: bool    Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0    Type: vector3    Default: 1 1 1
<plane>
Description: Plane shape
Required: 0    Type: n/a
<normal>
Description: Normal direction for the plane. When a Plane is used as a geometry for a Visual or Collision object, then the normal is specified in the Visual or Collision frame, respectively.
Required: 1    Type: vector3    Default: 0 0 1
<size>
Description: Length of each side of the plane. Note that this property is meaningful only for visualizing the Plane, i.e., when the Plane is used as a geometry for a Visual object. The Plane has infinite size when used as a geometry for a Collision object.
Required: 1    Type: vector2d    Default: 1 1
<polyline>
Description: Defines an extruded polyline shape
Required: 0    Type: n/a
<point>
Description: A series of points that define the path of the polyline.
Required: +    Type: vector2d    Default: 0 0
<height>
Description: Height of the polyline
Required: 1    Type: double    Default: 1
<sphere>
Description: Sphere shape
Required: 0    Type: n/a
<radius>
Description: radius of the sphere
Required: 1    Type: double    Default: 1
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<projector>
Description: none
Required: 0    Type: n/a
Attributes
name:
Name of the projector
Type: string   Default: __default__

<texture>
Description: Texture name
Required: 1    Type: string    Default: __default__
<fov>
Description: Field of view
Required: 0    Type: double    Default: 0.785
<near_clip>
Description: Near clip distance
Required: 0    Type: double    Default: 0.1
<far_clip>
Description: far clip distance
Required: 0    Type: double    Default: 10
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<audio_sink>
Description: An audio sink.
Required: *    Type: n/a
<audio_source>
Description: An audio source.
Required: *    Type: n/a
<uri>
Description: URI of the audio media.
Required: 1    Type: string    Default: __default__
<pitch>
Description: Pitch for the audio media, in Hz
Required: 0    Type: double    Default: 1
<gain>
Description: Gain for the audio media, in dB.
Required: 0    Type: double    Default: 1
<contact>
Description: List of collision objects that will trigger audio playback.
Required: 0    Type: n/a
<collision>
Description: Name of child collision element that will trigger audio playback.
Required: +    Type: string    Default: __default__
<loop>
Description: True to make the audio source loop playback.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<battery>
Description: Description of a battery.
Required: *    Type: n/a
Attributes
name:
Unique name for the battery.
Type: string   Default: __default__

<voltage>
Description: Initial voltage in volts.
Required: 1    Type: double    Default: 0
<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<joint>
Description: A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame.
Required: *    Type: n/a
Attributes
name:
A unique name for the joint within the scope of the model.
Type: string   Default: __default__
type:
The type of joint, which must be one of the following: (continuous) a hinge joint that rotates on a single axis with a continuous range of motion, (revolute) a hinge joint that rotates on a single axis with a fixed range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.
Type: string   Default: __default__

<parent>
Description: Name of the parent link or "world".
Required: 1    Type: string    Default: __default__
<child>
Description: Name of the child link. The value "world" may not be specified.
Required: 1    Type: string    Default: __default__
<gearbox_ratio>
Description: Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.
Required: 0    Type: double    Default: 1
<gearbox_reference_body>
Description: Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.
Required: 0    Type: string    Default: __default__
<thread_pitch>
Description: Parameter for screw joints.
Required: 0    Type: double    Default: 1
<axis>
Description: Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: specifies the limits of this joint
Required: 1    Type: n/a
<lower>
Description: Specifies the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: -1e+16
<upper>
Description: Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1    Type: double    Default: 1e+16
<effort>
Description: A value for enforcing the maximum joint effort applied. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: A value for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation.
Required: 0    Type: double    Default: 1
<axis2>
Description: Parameters related to the second axis of rotation for revolute2 joints and universal joints.
Required: 0    Type: n/a
<initial_position>
Description: Default joint position for this joint axis.
Required: 0    Type: double    Default: 0
<xyz>
Description: Represents the x,y,z components of the axis unit vector. The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. The vector should be normalized.
Required: 1    Type: vector3    Default: 0 0 1
Attributes
expressed_in:
Name of frame in whose coordinates the xyz unit vector is expressed.
Type: string   Default:

<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0    Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used.
Required: 0    Type: double    Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0    Type: double    Default: 0
<spring_reference>
Description: The spring reference position for this joint axis.
Required: 1    Type: double    Default: 0
<spring_stiffness>
Description: The spring stiffness for this joint axis.
Required: 1    Type: double    Default: 0
<limit>
Description: none
Required: 1    Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0    Type: double    Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0    Type: double    Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0    Type: double    Default: -1
<stiffness>
Description: Joint stop stiffness. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1e+08
<dissipation>
Description: Joint stop dissipation. Supported physics engines: SimBody.
Required: 0    Type: double    Default: 1
<physics>
Description: Parameters that are specific to a certain physics engine.
Required: 0    Type: n/a
<simbody>
Description: Simbody specific parameters
Required: 0    Type: n/a
<must_be_loop_joint>
Description: Force cut in the multibody graph at this joint.
Required: 0    Type: bool    Default: 0
<ode>
Description: ODE specific parameters
Required: 0    Type: n/a
<cfm_damping>
Description: If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active.
Required: 0    Type: bool    Default: 0
<implicit_spring_damper>
Description: If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4.
Required: 0    Type: bool    Default: 0
<fudge_factor>
Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.
Required: 0    Type: double    Default: 0
<cfm>
Description: Constraint force mixing for constrained directions
Required: 0    Type: double    Default: 0
<erp>
Description: Error reduction parameter for constrained directions
Required: 0    Type: double    Default: 0.2
<bounce>
Description: Bounciness of the limits
Required: 0    Type: double    Default: 0
<max_force>
Description: Maximum force or torque used to reach the desired velocity.
Required: 0    Type: double    Default: 0
<velocity>
Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.
Required: 0    Type: double    Default: 0
<limit>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Constraint force mixing parameter used by the joint stop
Required: 1    Type: double    Default: 0
<erp>
Description: Error reduction parameter used by the joint stop
Required: 1    Type: double    Default: 0.2
<suspension>
Description: none
Required: 0    Type: n/a
<cfm>
Description: Suspension constraint force mixing parameter
Required: 1    Type: double    Default: 0
<erp>
Description: Suspension error reduction parameter
Required: 1    Type: double    Default: 0.2
<provide_feedback>
Description: If provide feedback is set to true, physics engine will compute the constraint forces at this joint.
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0    Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string   Default: __default__
type:
The type name of the sensor. By default, SDFormat supports types air_pressure, altimeter, camera, contact, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
Type: string   Default: __default__

<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0    Type: bool    Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0    Type: double    Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0    Type: bool    Default: 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0    Type: string    Default: __default__
<enable_metrics>
Description: If true, the sensor will publish performance metrics
Required: 0    Type: bool    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<air_pressure>
Description: These elements are specific to an air pressure sensor.
Required: 0    Type: n/a
<reference_altitude>
Description: The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.
Required: 0    Type: double    Default: 0
<pressure>
Description: Noise parameters for the pressure data.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<altimeter>
Description: These elements are specific to an altimeter sensor.
Required: 0    Type: n/a
<vertical_position>
Description: Noise parameters for vertical position
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical_velocity>
Description: Noise parameters for vertical velocity
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<camera>
Description: These elements are specific to camera sensors.
Required: 0    Type: n/a
Attributes
name:
An optional name for the camera.
Type: string   Default: __default__

<horizontal_fov>
Description: Horizontal field of view
Required: 1    Type: double    Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1    Type: n/a
<width>
Description: Width in pixels
Required: 1    Type: int    Default: 320
<height>
Description: Height in pixels
Required: 1    Type: int    Default: 240
<format>
Description: (L8|L16|R_FLOAT16|R_FLOAT32|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0    Type: string    Default: R8G8B8
<anti_aliasing>
Description: Value used for anti-aliasing
Required: 0    Type: int    Default: 4
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1    Type: n/a
<near>
Description: Near clipping plane
Required: 1    Type: double    Default: 0.1
<far>
Description: Far clipping plane
Required: 1    Type: double    Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0    Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool   Default: 0

<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1    Type: string    Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0    Type: n/a
<output>
Description: Type of output
Required: 1    Type: string    Default: depths
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not detected by the depth camera.
Required: 0    Type: n/a
<near>
Description: Near clipping plane for depth camera
Required: 0    Type: double    Default: 0.1
<far>
Description: Far clipping plane for depth camera
Required: 0    Type: double    Default: 10
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<distortion>
Description: Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
Required: 0    Type: n/a
<k1>
Description: The radial distortion coefficient k1
Required: 0    Type: double    Default: 0
<k2>
Description: The radial distortion coefficient k2
Required: 0    Type: double    Default: 0
<k3>
Description: The radial distortion coefficient k3
Required: 0    Type: double    Default: 0
<p1>
Description: The tangential distortion coefficient p1
Required: 0    Type: double    Default: 0
<p2>
Description: The tangential distortion coefficient p2
Required: 0    Type: double    Default: 0
<center>
Description: The distortion center or principal point
Required: 0    Type: vector2d    Default: 0.5 0.5
<lens>
Description: Lens projection description
Required: 0    Type: n/a
<type>
Description: Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°
Required: 1    Type: string    Default: stereographic
<scale_to_hfov>
Description: If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters
Required: 1    Type: bool    Default: 1
<custom_function>
Description: Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
Required: 0    Type: n/a
<c1>
Description: Linear scaling constant
Required: 0    Type: double    Default: 1
<c2>
Description: Angle scaling constant
Required: 0    Type: double    Default: 1
<c3>
Description: Angle offset constant
Required: 0    Type: double    Default: 0
<f>
Description: Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true
Required: 0    Type: double    Default: 1
<fun>
Description: Possible values are 'sin', 'tan' and 'id'
Required: 1    Type: string    Default: tan
<cutoff_angle>
Description: Everything outside of the specified angle will be hidden, 90° by default
Required: 0    Type: double    Default: 1.5707
<env_texture_size>
Description: Resolution of the environment cube map used to draw the world
Required: 0    Type: int    Default: 256
<intrinsics>
Description: Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Required: 0    Type: n/a
<fx>
Description: X focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<fy>
Description: Y focal length (in pixels, overrides horizontal_fov)
Required: 1    Type: double    Default: 277
<cx>
Description: X principal point (in pixels)
Required: 1    Type: double    Default: 160
<cy>
Description: Y principal point (in pixels)
Required: 1    Type: double    Default: 120
<s>
Description: XY axis skew
Required: 1    Type: double    Default: 0
<projection>
Description: Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
Required: 0    Type: n/a
<p_fx>
Description: X focal length for projection matrix(in pixels, overrides fx)
Required: 0    Type: double    Default: 277
<p_fy>
Description: Y focal length for projection matrix(in pixels, overrides fy)
Required: 0    Type: double    Default: 277
<p_cx>
Description: X principal point for projection matrix(in pixels, overrides cx)
Required: 0    Type: double    Default: 160
<p_cy>
Description: Y principal point for projection matrix(in pixels, overrides cy)
Required: 0    Type: double    Default: 120
<tx>
Description: X translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<ty>
Description: Y translation for projection matrix (in pixels)
Required: 0    Type: double    Default: 0
<visibility_mask>
Description: Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.
Required: 0    Type: unsigned int    Default: 4294967295
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default:

<contact>
Description: These elements are specific to the contact sensor.
Required: 0    Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1    Type: string    Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1    Type: string    Default: __default_topic__
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0    Type: n/a
<frame>
Description: Frame in which to report the wrench values. Currently supported frames are: "parent" report the wrench expressed in the orientation of the parent link frame, "child" report the wrench expressed in the orientation of the child link frame, "sensor" report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.
Required: 0    Type: string    Default: child
<measure_direction>
Description: Direction of the wrench measured by the sensor. The supported options are: "parent_to_child" if the measured wrench is the one applied by the parent link on the child link, "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
Required: 0    Type: string    Default: child_to_parent
<force>
Description: These elements are specific to measurement-frame force, which is expressed in Newtons
Required: 0    Type: n/a
<x>
Description: Force along the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force along the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Force along the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<torque>
Description: These elements are specific to measurement-frame torque, which is expressed in Newton-meters
Required: 0    Type: n/a
<x>
Description: Torque about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Force about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Torque about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0    Type: n/a
<orientation_reference_frame>
Description: none
Required: 0    Type: n/a
<localization>
Description: This string represents special hardcoded use cases that are commonly seen with typical robot IMU's: - CUSTOM: use Euler angle custom_rpy orientation specification. The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation to the parent_frame. - NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world is defined by the SphericalCoordinates class. - ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world is defined by the SphericalCoordinates class. - GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule. - GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x. Note if grav_dir_x is parallel to gravity direction, this configuration fails. Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both X and Z axis following the right hand rule.
Required: 1    Type: string    Default: CUSTOM
<custom_rpy>
Description: This field and parent_frame are used when localization is set to CUSTOM. Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame. Some common examples are: - IMU reports in its local frame on boot. IMU sensor frame is the reference frame. Example: parent_frame="", custom_rpy="0 0 0" - IMU reports in Gazebo world frame. Example sdf: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NWU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0" - IMU reports in NED frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0" - IMU reports in ENU frame. Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity; i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class. Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI" - IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is (z-forward, x-left to right when facing +z, y-top to bottom when facing +z). (default gazebo camera is +x:view direction, +y:left, +z:up). Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
Required: 0    Type: vector3    Default: 0 0 0
Attributes
parent_frame:
Name of parent frame which the custom_rpy transform is defined relative to. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<grav_dir_x>
Description: Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that is orthogonal to the gravity vector defines the direction of the IMU reference frame's X-axis. grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
Required: 0    Type: vector3    Default: 1 0 0
Attributes
parent_frame:
Name of parent frame in which the grav_dir_x vector is defined. It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame. If left empty, use the sensor's own local frame.
Type: string   Default:

<angular_velocity>
Description: These elements are specific to body-frame angular velocity, which is expressed in radians per second
Required: 0    Type: n/a
<x>
Description: Angular velocity about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Angular velocity about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Angular velocity about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<linear_acceleration>
Description: These elements are specific to body-frame linear acceleration, which is expressed in meters per second squared
Required: 0    Type: n/a
<x>
Description: Linear acceleration about the X axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Linear acceleration about the Y axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Linear acceleration about the Z axis
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<enable_orientation>
Description: Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation.
Required: 0    Type: bool    Default: 1
<lidar>
Description: These elements are specific to the lidar sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated lidar rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated lidar
Required: 1    Type: n/a
<min>
Description: The minimum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each lidar ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each lidar ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<logical_camera>
Description: These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Required: 0    Type: n/a
<near>
Description: Near clipping distance of the view frustum
Required: 1    Type: double    Default: 0
<far>
Description: Far clipping distance of the view frustum
Required: 1    Type: double    Default: 1
<aspect_ratio>
Description: Aspect ratio of the near and far planes. This is the width divided by the height of the near or far planes.
Required: 1    Type: double    Default: 1
<horizontal_fov>
Description: Horizontal field of view of the frustum, in radians. This is the angle between the frustum's vertex and the edges of the near or far plane.
Required: 1    Type: double    Default: 1
<magnetometer>
Description: These elements are specific to a Magnetometer sensor.
Required: 0    Type: n/a
<x>
Description: Parameters related to the body-frame X axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<y>
Description: Parameters related to the body-frame Y axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<z>
Description: Parameters related to the body-frame Z axis of the magnetometer
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<navsat>
Description: These elements are specific to the NAVSAT sensor.
Required: 0    Type: n/a
<position_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<velocity_sensing>
Description: Parameters related to NAVSAT position measurement.
Required: 0    Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0    Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1    Type: n/a
Attributes
type:
The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
Type: string   Default: none

<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0    Type: double    Default: 0
<dynamic_bias_stddev>
Description: For type "gaussian*", the standard deviation of the noise used to drive a process to model slow variations in a sensor bias.
Required: 0    Type: double    Default: 0
<dynamic_bias_correlation_time>
Description: For type "gaussian*", the correlation time in seconds of the noise used to drive a process to model slow variations in a sensor bias. A typical value, when used, would be on the order of 3600 seconds (1 hour).
Required: 0    Type: double    Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0    Type: double    Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0    Type: n/a
<scan>
Description: none
Required: 1    Type: n/a
<horizontal>
Description: none
Required: 1    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 640
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 1    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<vertical>
Description: none
Required: 0    Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1    Type: unsigned int    Default: 1
<resolution>
Description: This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.
Required: 0    Type: double    Default: 1
<min_angle>
Description: none
Required: 1    Type: double    Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1    Type: double    Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1    Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1    Type: double    Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1    Type: double    Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0    Type: double    Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0    Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1    Type: string    Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0    Type: double    Default: 0
<rfidtag>
Description: none
Required: 0    Type: n/a
<rfid>
Description: none
Required: 0    Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0    Type: n/a
<geometry>
Description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
Required: 0    Type: string    Default: cone
<min>
Description: Minimum range
Required: 1    Type: double    Default: 0
<max>
Description: Max range
Required: 1    Type: double    Default: 1
<radius>
Description: Radius of the sonar cone at max range. This parameter is only used if geometry is "cone".
Required: 0    Type: double    Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0    Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0    Type: string    Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0    Type: double    Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0    Type: double    Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0    Type: double    Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1    Type: double    Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1    Type: double    Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0    Type: double    Default: -90
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *    Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string   Default: __default__
filename:
Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.
Type: string   Default: __default__

<light>
Description: The light element describes a light source.
Required: *    Type: n/a
Attributes
name:
A unique name for the light.
Type: string   Default: __default__
type:
The light type: point, directional, spot.
Type: string   Default: point

<cast_shadows>
Description: When true, the light will cast shadows.
Required: 0    Type: bool    Default: 0
<diffuse>
Description: Diffuse light color
Required: 0    Type: color    Default: 1 1 1 1
<specular>
Description: Specular light color
Required: 0    Type: color    Default: 0.1 0.1 0.1 1
<attenuation>
Description: Light attenuation
Required: 0    Type: n/a
<range>
Description: Range of the light
Required: 1    Type: double    Default: 10
<linear>
Description: The linear attenuation factor: 1 means attenuate evenly over the distance.
Required: 0    Type: double    Default: 1
<constant>
Description: The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation.
Required: 0    Type: double    Default: 1
<quadratic>
Description: The quadratic attenuation factor: adds a curvature to the attenuation.
Required: 0    Type: double    Default: 0
<direction>
Description: Direction of the light, only applicable for spot and directional lights.
Required: 1    Type: vector3    Default: 0 0 -1
<spot>
Description: Spot light parameters
Required: 0    Type: n/a
<inner_angle>
Description: Angle covered by the bright inner cone
Required: 1    Type: double    Default: 0
<outer_angle>
Description: Angle covered by the outer cone
Required: 1    Type: double    Default: 0
<falloff>
Description: The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.
Required: 1    Type: double    Default: 0
<pose>
Description: A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.
Required: 0    Type: pose    Default: 0 0 0 0 -0 0
Attributes
relative_to:
Name of frame relative to which the pose is applied.
Type: string   Default: